FUZZY LOGIC POSITION CONTROL OF THE MINI-LINEAR DRIVER Fuzzy logic position control of the mini-linear driver
نویسندگان
چکیده
In order to overcome the limitations of the end clamps of traditional robot, multifingered dextrous robot hands have been well developed since the last decade. A new fuzzy logic control structure is presented in this article, which is for the position control of the mini-linear driver used in driving the joints of the dextrous robot hands. This method is proved to be effective in simulations and practices, and especially useful when the external disturbance varies in a large range.
منابع مشابه
Fuzzy Logic Controller for a Mini Coaxial Indoor Helicopter
In this paper the design process of a fuzzy logic based controller for a coaxial micro helicopter is presented. The developed controller for altitude, attitude, and position control is tested through simulations on an identified non-linear model of the helicopter. The robustness properties of the controller to parameter variations of the model is assessed, as well as, its ability to reject exte...
متن کاملAdaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...
متن کاملEliminating chattering phenomenon in sliding mode control of robot manipulators in the joint space using fuzzy logic
In industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. As a result, designing a controller with a suitable function based on system model is a challenging issue. Sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....
متن کاملDetection and Recognition of Multi-language Traffic Sign Context by Intelligent Driver Assistance Systems
Design of a new intelligent driver assistance system based on traffic sign detection with Persian context is concerned in this paper. The primary aim of this system is to increase the precision of drivers in choosing their path with regard to traffic signs. To achieve this goal, a new framework that implements fuzzy logic was used to detect traffic signs in videos captured along a highway f...
متن کاملCombining fuzzy, PID and regulation control for an autonomous mini-helicopter
This paper reports on the synthesis of different flight controllers for an X-Cell mini-helicopter. They are developed on the basis of the most realistic mathematical model currently available. Two hybrid intelligent control systems, combining computational intelligence methodologies with other control techniques, are investigated. For both systems, Mamdanitype fuzzy controllers determine the se...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2009