Thứ năm, 28/03/2024 | 19:55 - GMT+7
Bài báo này đề xuất hệ điều khiển thông minh hiệu quả cho đối tượng phi tuyến. Đối tượng được chọn là mô hình hệ cánh tay robot n-link bất kỳ
31/05/2023 - 14:14A SELF-ORGANIZING FUZZY CEREBELLAR MODEL ARTICULATION CONTROLLER BASED OVERLAPPING GAUSSIAN MEMBERSHIP FUNCTION FOR ROBOTIC SYSTEM WITH UNCERTAINTIES NGÔ THANH QUYỀN 1, HOÀNG ĐÌNH KHÔI1, NGUYỄN ANH TUẤN 2, BÙI THỊ CẨM QUỲNH 1 1Faculty of Electrical Engineering Technology, Industrial University of Ho Chi Minh city 2Lixil Global Manufacturing Vietnam Co., Ltd, *Coresponding: [email protected] Abstract: This paper proposes an effective intelligent control system for nonlinear objects. The selected object is n-link robotic manipulator model. The robotic manipulator system is always facing uncertain changes in its dynamics. To solve this problem, an intelligent control system consisting of a new selforganizing fuzzy cerebellar model articulation controller (NSOFC) plays a key role built by a cerebellar model articulation controller (CMAC) with a sliding mode control (SMC) to estimate the ideal controller and the compensator for eliminating the approximation error. The remarkable thing about the conventional cerebellar model (CMAC) is the reuse of previous data to synchronously mix the current state for more accurate tracking error checking. The control system not only adjusts model parameters on-line based on Lyapunov stability theory but also restructures the main controller – increasing or decreasing layers automatically. Finally, the robot manipulator 2 DOF is provided to demonstrate the effectiveness of the proposed control system through the experimental results. Keyword: Self-organizing technique, cerebellar model articulation controller, manipulator system. |
Trong hạ tầng số, hạ tầng dữ liệu được đánh giá có tầm quan trọng bậc nhất