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Proceedings Paper

Fuzzy neuron variable structure control for a direct-drive manipulator
Author(s): Jianming Zhang; Ning Wang; Shuqing Wang
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Paper Abstract

Based on the neuron model and its learning strategy proposed in reference one, the fuzzy neuron variable structure control method is proposed in this paper. In this variable structure control system, the fuzzy controller speeds up the transient response when the system error is big and the neuron controller eliminates the steady state error of the system by utilizing the associate learning algorithm. To the independent joint of direct-drive manipulator, the control experiments are made. The results show that this model-free controller has good performance.

Paper Details

Date Published: 2 September 2003
PDF: 4 pages
Proc. SPIE 5253, Fifth International Symposium on Instrumentation and Control Technology, (2 September 2003); doi: 10.1117/12.522124
Show Author Affiliations
Jianming Zhang, Zhejiang Univ. (China)
Ning Wang, Zhejiang Univ. (China)
Shuqing Wang, Zhejiang Univ. (China)

Published in SPIE Proceedings Vol. 5253:
Fifth International Symposium on Instrumentation and Control Technology
Guangjun Zhang; Huijie Zhao; Zhongyu Wang, Editor(s)

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