Year: 2022
Type: article
Abstract: With the manipulator performs fixed-point tasks, it becomes adversely affected by external disturbances, parameter variations, and random noise. Therefore, it is essential to improve the robust and accuracy of the controller. In this article, a self-tuning particle swarm optimization (PSO) fuzzy PID positioning controller is designed based on fuzzy PID control. The quantization and scaling factors in the fuzzy PID algorithm are optimized by PSO in order to achieve high robustness and high accuracy of the manipulator. First of all, a mathematical model of the manipulator is developed, and the manipulator positioning controller is designed. A PD control strategy with compensation for gravity is used for the positioning control system. Then, the PID controller parameters dynamically are minute-tuned by the fuzzy controller 1. Through a closed-loop control loop to adjust the magnitude of the quantization factors-proportionality factors online. Correction values are outputted by the modified fuzzy controller 2. A quantization factor-proportion factor online self-tuning strategy is achieved to find the optimal parameters for the controller. Finally, the control performance of the improved controller is verified by the simulation environment. The results show that the transient response speed, tracking accuracy, and follower characteristics of the system are significantly improved.
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,950
Awards: G1028685744, G1061206071, G1625130435, G1760081002, G195759082, G2292164053, G2370833963, 面向孤独症早期诊疗的机器辅助系统关键技术研究, G2660102112, G2680666193, G2967033177, G3196884512, G3222330103, G333084831, G3581841812, G3670172510, G3679104137, G417871703, G4187698680, G4299034324, 不确定环境下基于多源信息融合的机器人灵巧手稳定操作机制研究, G4924595562, G4929138373, G5055643999, G5057564597, G5377583273, G5431041743, G5441120677, G5531087471, G55600931, G5959810131, G612610808, G6347770369, G6483499434, G66144589, G7177082007, G8373279151, G8567086899
OpenAlex ID: W4211228564