Title :
Position control of prismatic link using the stochastic fuzzy controller with a robust servo structure
Author :
Watanabe, Keigo ; Noda, Katsuhiko
Author_Institution :
Dept. of Mech. Eng., Saga Univ., Japan
Abstract :
A stochastic fuzzy controller based on a robust servo structure is proposed to remove a steady-state tracking error. The present method is applied to the position control problem of a prismatic link with a measurement noise. It is shown from some computer simulations that the present controller is very robust against a time-varying disturbance or noise, compared to a conventional robust controller
Keywords :
fuzzy control; position control; robots; robust control; servomechanisms; stochastic systems; noise; position control; prismatic link; robust servo structure; steady-state tracking error; stochastic fuzzy controller; time-varying disturbance; Computer errors; Error correction; Fuzzy control; Noise robustness; Position control; Robust control; Servomechanisms; Steady-state; Stochastic processes; Stochastic resonance;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.569785
