Application of Fuzzy Immune PD Controller with Fixed Gravity Compensation to Displacement Control for Manipulator Actuated by Pneumatic Muscle Actuator
YANG Yu-gui, PENG Guang-zheng, WANG Tao, WANG Yi-feng
Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing 100081, China
杨玉贵, 彭光正, 王涛, 王毅枫. 具有固定重力补偿的模糊免疫PD控制在气动人工肌肉驱动机械手位置控制中的应用[J]. 机器人, 2008, 30(3): 259-263..
YANG Yu-gui, PENG Guang-zheng, WANG Tao, WANG Yi-feng. Application of Fuzzy Immune PD Controller with Fixed Gravity Compensation to Displacement Control for Manipulator Actuated by Pneumatic Muscle Actuator. ROBOT, 2008, 30(3): 259-263..
Abstract：In order to overcome the disadvantages of conventional PD control with fixed gravity compensation,to improve the displacement control precision of manipulator actuated by pneumatic muscle actuator(PMA),and to increase the adaptability and robustness of the control system,a fuzzy immune PD control algorithm with fixed gravity compensation is presented by using the adjusting effect of feedback response of biological immune systems and the characteristics of fuzzy reasoning logic for approaching non-linear functions,which combines both fuzzy control algorithm and immune feedback mechanism with the conventional PD control algorithm with fixed gravity compensation.Then the algorithm is applied to fixed displacement control for manipulator actuted by PMA.The experiment results show that the algorithm is better than the conventional PD control,and is of practical value.
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