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SIIM 퍼지 PID 제어기를 이용한 3축 푸마 로봇의 경로 제어에 관한 연구
석홍성,채창현,고택범,김희년 금오공과대학교 산업기술개발연구원 2000 産業技術開發硏究 Vol.16 No.-
This paper describes the design of the Fuzzy PID controller using simplified indirect inference method. First, the fuzzy digital PID controller are derived from the conventional continuous time linear ones. Then the fuzzification, control-rule base, and defuzzification using SIIM in the design of the fuzzy digital controller are discussed in detail. The resulting controller is a discrete time fuzzy version of the conventional digital PID controller, which has the same linear structure, but are nonlinear functions of the input signals. The proposed controller enhances the self-tuning control capability, particularly when the process to be controlled is nonlinear. When the SIIM is applied, the fuzzy inference results can be calculated with splitting fuzzy variables into each action component and are determined as the functional form of corresponding variables. So the proposed method has the capability of the high speed inference and adapting with increasing the number of the fuzzy input variables easily. Computer simulation results have demonstrated the superior to the control performance of the conventional digital PID controller. Lastly, it is applied to the trajectory control of the PUMA robot with three-axis.