Title :
On using fuzzy logic to integrate learning mechanisms in an electro-hydraulic system. II. Actuator´s position control
Author :
Branco, P. J Costa ; Dente, J.A.
Author_Institution :
Lab. de Mecatronica, Inst. Superior Tecnico, Lisbon, Portugal
fDate :
8/1/2000 12:00:00 AM
Abstract :
For pt.I see ibid., p.305-16 (2000). In Part I of this paper, fuzzy modeling showed its potential to describe the behavior of the electro-hydraulic system. To verify the possibilities of its application for the system´s learning control, two inverse-model compensation schemes were implemented. This paper describes and discusses the experimental results obtained, showing the feasibility and effectiveness of the learning controllers in: generalizing their previously acquired knowledge to possible new trajectories; their ability to learn new rules and update their fuzzy models while functioning; and how they compensate changes in the system´s dynamics caused by the variation of the parameters and/or environment perturbations on it.
Keywords :
actuators; compensation; electrohydraulic control equipment; fuzzy logic; learning (artificial intelligence); position control; electro-hydraulic actuator; electrohydraulic system; environment perturbations; experimental results; fuzzy logic; fuzzy modeling; inverse-model compensation schemes; learning; learning controllers; parameter variation; position control; system dynamics; Actuators; Automatic control; Control systems; Fuzzy control; Fuzzy logic; Fuzzy systems; Learning systems; Manipulators; Position control; Robot control;
Journal_Title :
Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on
DOI :
10.1109/5326.885113