Title :
Trajectory tracking control of unconstrained objects based on the SIRMs dynamically connected fuzzy inference model
Author :
YUBAZAKI, Naoyoshi ; YI, Jianquiang ; Otani, Masayuki ; Unemura, Nobuichi ; Hirota, Kaoru
Author_Institution :
Dept. of Res. & Dev., Mycom Inc., Kyoto, Japan
Abstract :
A trajectory tracking experiment system is constructed. The control object is a table-tennis ball rolling on a table which is rotated about the X and Y axes. A fuzzy controller based on the single input rule modules (SIRM) dynamically connected fuzzy inference model is proposed. The fuzzy controller defines a SIRM and an importance degree for each input item. Especially for the input item of velocity, its importance degree is tuned dynamically according to the moving condition. The summation of the products of the importance degree and the fuzzy inference result of the SIRMs is calculated to control the angles of a table with level surface, making the ball on the table move along a desired trajectory. The maximum tracking error in more than 80% of the experiments on two kinds of circles is less than 0.05 m, and the sampling steps necessary for tracking one cycle in an experiment almost keep constant
Keywords :
fuzzy control; inference mechanisms; intelligent control; position control; tracking; SIRM dynamically connected fuzzy inference model; level surface; maximum tracking error; rotating table; single input rule modules; table-tennis ball; trajectory tracking control; unconstrained objects; Automatic control; Charge coupled devices; Control systems; Educational institutions; Fuzzy control; Gears; Programmable control; Research and development; Tracking; Trajectory;
Conference_Titel :
Fuzzy Systems, 1997., Proceedings of the Sixth IEEE International Conference on
Conference_Location :
Barcelona
Print_ISBN :
0-7803-3796-4
DOI :
10.1109/FUZZY.1997.622781