Preliminary design study of a fuzzy tracking controller applied to a crane type manipulator
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Preliminary design study of a fuzzy tracking controller applied to a crane type manipulatorData
1999Cita bibliográfica
Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction, ISARC'99, september 22-24, 1999, Madrid, Spain, edited by Carlos Balaguer, p. 441-444
Resumo
[Abstract] The main purpose of a control system is usually to force the output to follow a reference input with zero steady state error while satisfying certain transient requirements such the settling time for rapid following, overshoot and smoothness of the transient response. This paper is concerned with finding a fuzzy rule-based controller achieved by learning from a virtual feedback (PID) controller capable for satisfying rapid following, zero steady state error and overshoot suppression applied to robotized manipulators dedicated to heavy loads or big container handling
Palabras chave
Rapid following
Fuzzy tracking controller
Virtual training
Fuzzy tracking controller
Virtual training