分散轨迹跟踪中的二自由度模糊控制

2007 4th International Symposium on Applied Computational Intelligence and Informatics Pub Date : 2007-06-25 DOI:10.1109/SACI.2007.375491

R. Precup, Z. Preitl, S. Preitl, Simona Vaivoda, J. Tar, M. Takács

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引用次数: 4

摘要

本文给出了关于两个输入通道的非齐次动态的二自由度模糊控制器的结构和系统开发方法。所提出的控制器结构是专门针对伺服系统领域的低阶对象的。设计关系是基于在某些特定条件下，模糊控制器和线性展开方法适用于这种情况。指出所提出的二自由度模糊控制器可以应用于机器人的控制中，并且在参考输入和干扰作用方面保证了良好的控制系统性能。

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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Two-Degree-Of-Freedom Fuzzy Control in Decentralized Trajectory Tracking

The paper presents structures and a systematic development method for two-degree-of-freedom (2-DOF) fuzzy controllers with non-homogenous dynamics with respect to the two input channels. The proposed controller structures are dedicated to a low order plant, which is specific to the field of servo-systems. The design relations are based on the fact that, in some certain conditions, fuzzy controllers and linear development methods are applicable for this situation. The presentation points out that the proposed 2-DOF fuzzy controllers can be applied in robot control and ensure good control system performance with respect to reference input and disturbance actions.

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2007 4th International Symposium on Applied Computational Intelligence and Informatics

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