形状优化机器人系统的模糊跟踪控制器

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI:10.1109/RAAD.2014.7002239

J. Cigánek, F. Noge, G. Galik, Roman Gogola

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引用次数: 0

摘要

本文研究了一种基于模糊逻辑的鲁棒控制器设计方法。我们开发了用于轨迹跟踪的可变采样算法。通过所选机电系统的实例研究，验证了所提出的控制器设计和采样算法。所有数值和图形结果都是在Matlab-Simulink和MSC Adams两种不同建模系统的联合仿真中获得的。在ANSYS系统分析的基础上，提出了利用形状优化模型降低能耗的方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Fuzzy tracking controller for shape optimized robotic system

The paper deals with an effective approach of the robust controller design, based on the fuzzy logic. We developed algorithms with variable sampling for trajectorytracking. The proposed controller design and sampling algorithms are verified on the case study of the chosen mechatronic system. All numerical and graphical results are obtained in Co-simulation of combination two different modeling systems - Matlab-Simulink and MSC Adams. The paper shows the methodology of energy cost reduction using shape optimized model based on the system analysis made in system ANSYS.

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2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

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