Title :
Fuzzy-reasoning-based control for the dexterous hand
Author :
Wang, Guo-Qing ; Zhang, Qi-Xian
Author_Institution :
Inst. of Robotics, Beijing Univ. of Aeronaut. & Astronaut., China
Abstract :
As common PID controllers with unchanged parameters can not give satisfactory results for the highly nonlinear time-varying system of the dexterous hand, we propose a kind of fuzzy-reasoning-based PID controller. This kind of controller contains a fuzzy rules-based reasoning system which can properly adjust the three parameters of the PID controller. Experiments have shown that this kind of controller is more effective than common PID controller. The increment of running time and cost concerning the proposed controller is very limited
Keywords :
fuzzy control; inference mechanisms; intelligent control; knowledge based systems; manipulators; nonlinear control systems; three-term control; time-varying systems; PID controllers; dexterous hand; fuzzy rules-based reasoning system; fuzzy-reasoning-based PID controller; manipulator; nonlinear time-varying system; running cost; running time; Cables; Control systems; Current control; Fingers; Hardware; Humans; Nonlinear control systems; Robots; Steel; Three-term control;
Conference_Titel :
Industrial Technology, 1994., Proceedings of the IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
0-7803-1978-8
DOI :
10.1109/ICIT.1994.467069
