Use this link to cite:

http://hdl.handle.net/2183/457

Preliminary design study of a fuzzy tracking controller applied to a crane type manipulator

Thumbnail Image

Files

grua2.pdf (63.01 KB)

Identifiers

URI: http://hdl.handle.net/2183/457

Publication date

1999

Authors

Advisors

Other responsabilities

Journal Title

Bibliographic citation

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

Type of academic work

Academic degree

Abstract

[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

Description

Keywords

Rapid following Fuzzy tracking controller Virtual training

Editor version

Rights

Collections

Investigación (EPEF)