{"title":"分布式操作系统中目标的最终位置和轨迹控制","authors":"Ali Elahidoost, M. Keshmiri","doi":"10.1109/ISMA.2009.5164826","DOIUrl":null,"url":null,"abstract":"In this paper, the function of a fuzzy controller in motion control of an object on a distributed manipulation system is investigated practically by an experimental setup. The system consists of four wheels with fixed axis and an object that is carried on them. The angular velocity of the wheels is controlled by a fuzzy controller and the object motion is indeed controlled by the friction forces between the wheels and the object. The results of experimental tests are compared with that of numerical simulations of the system in SIMULINK. The good agreement between the results indicates the effectiveness of the designed controller in actual systems.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"37 9","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Final position and trajectory control of an object on a distributed manipulation system\",\"authors\":\"Ali Elahidoost, M. Keshmiri\",\"doi\":\"10.1109/ISMA.2009.5164826\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, the function of a fuzzy controller in motion control of an object on a distributed manipulation system is investigated practically by an experimental setup. The system consists of four wheels with fixed axis and an object that is carried on them. The angular velocity of the wheels is controlled by a fuzzy controller and the object motion is indeed controlled by the friction forces between the wheels and the object. The results of experimental tests are compared with that of numerical simulations of the system in SIMULINK. The good agreement between the results indicates the effectiveness of the designed controller in actual systems.\",\"PeriodicalId\":122255,\"journal\":{\"name\":\"2009 6th International Symposium on Mechatronics and its Applications\",\"volume\":\"37 9\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-03-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 6th International Symposium on Mechatronics and its Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISMA.2009.5164826\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 6th International Symposium on Mechatronics and its Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISMA.2009.5164826","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Final position and trajectory control of an object on a distributed manipulation system
In this paper, the function of a fuzzy controller in motion control of an object on a distributed manipulation system is investigated practically by an experimental setup. The system consists of four wheels with fixed axis and an object that is carried on them. The angular velocity of the wheels is controlled by a fuzzy controller and the object motion is indeed controlled by the friction forces between the wheels and the object. The results of experimental tests are compared with that of numerical simulations of the system in SIMULINK. The good agreement between the results indicates the effectiveness of the designed controller in actual systems.
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