Please wait a minute...
工程设计学报
Chinese Journal of Engineering Design  2003, Vol. 10 Issue (6): 326-329    DOI:
    
Design of fuzzy controller based on expert system ’s manipulator
 LI  Peng, ZENG  Zhao-Long, LI  Wen-Xiu
Automation College，Harbin Engineering University，Harbin 150001，China
Download: HTML     PDF(171KB)
Export: BibTeX | EndNote (RIS)      

Abstract  The good control performance can not be gotten for a kind of complicated control system only using simple fuzzy controller．A integrated intelligent expert fuzzy controller is cornposed by introducing expert knowledge into the fuzzy controller．Then，fuzzy membership function can be optimized automatically according to the genetic algorithm (GA)encoded by matrix individual for direction to the parameters of membership function．The control performance is
largely improved．It enhanced adaptability for environment and parameter movement by introducing expert knowledge into the system ．

Key words： expert system      fuzzy control      genetic algorithm      manipulator     
Published: 28 December 2003
Service
E-mail this article
Add to my bookshelf
Add to citation manager
E-mail Alert
RSS
Articles by authors
LI Peng
ZENG Zhao-Long
LI Wen-Xiu
Cite this article:

LI Peng, ZENG Zhao-Long, LI Wen-Xiu. Design of fuzzy controller based on expert system ’s manipulator. Chinese Journal of Engineering Design, 2003, 10(6): 326-329.

URL:

https://www.zjujournals.com/gcsjxb/     OR     https://www.zjujournals.com/gcsjxb/Y2003/V10/I6/326


基于专家控制调整的机器人手臂系统模糊控制器设计

对一种复杂的控制系统，简单的模糊控制器不能形成很好的控制效果，将专家知识应用到模糊控制器上，构成一种综合集成的智能专家模糊控制器，采用一种直接对隶属度函数参数进行矩阵式个体编码的遗传算法，对模糊控制器中隶属函数进行寻优，大大提高了系统的控制效果，同时由于专家知识的引入改善了系统对环境和机构参数变化的适应性。

关键词： 专家系统,  模糊控制,  遗传算法,  机器人手臂 
[1] Di ZHAO,Guo CHEN,Xiaoli CHEN,Xiongjin WANG. Terrain adaptive mechanism design and obstacle-surmounting performance analysis of wheeled search and rescue robot[J]. Chinese Journal of Engineering Design, 2023, 30(5): 579-589.
[2] Hongyue CHEN,Minghang CAI,Xinwei YANG,Zhonghuan DAI. Structure and dynamics analysis of special manipulator frame for replacing wire rope of electric shovel[J]. Chinese Journal of Engineering Design, 2023, 30(5): 590-600.
[3] Hongyang JIN,Longwang YUE,Jingda LIU,Weiwei ZHENG,Zhao ZHAO,Jiahui XU. Research on flexible manipulator with variable stiffness based on particle blocking mechanism[J]. Chinese Journal of Engineering Design, 2023, 30(4): 449-455.
[4] Fangjian DOU,Qingying QIU,Cheng GUAN,Jinjie SHAO,Haifeng WU. Optimization design of acceleration and deceleration curve of winding machine with large moment of inertia[J]. Chinese Journal of Engineering Design, 2023, 30(4): 503-511.
[5] Qiqi LI,Xiangrong XU,Hui ZHANG. Sliding mode trajectory tracking control of manipulator based on adaptive neural network[J]. Chinese Journal of Engineering Design, 2023, 30(4): 512-520.
[6] San-ping LI,Teng-jia SUN,Long-qiang YUAN,Li-guo WU. Design and experimental research of pneumatic soft picking manipulator[J]. Chinese Journal of Engineering Design, 2022, 29(6): 684-694.
[7] Xin MI,Hong LI,Yan-qing GUO,Hong-wei GAO,Hao-nan WANG,Yi-fan NING. Parameter optimization of single plunger pump check valve based on linear regression[J]. Chinese Journal of Engineering Design, 2022, 29(6): 705-712.
[8] Hui ZHANG,Yong-fei ZHU,Xue-fei LIU,Xiang-rong XU. Research on trajectory tracking control of metallurgical industrial robot based on fuzzy iterative Q-learning[J]. Chinese Journal of Engineering Design, 2022, 29(5): 564-571.
[9] Qin LI,Ying-qi JIA,Yu-feng HUANG,Gang LI,Chuang YE. A multi-objective trajectory optimization algorithm for industrial robot[J]. Chinese Journal of Engineering Design, 2022, 29(2): 187-195.
[10] DING Shu-yong, ZHANG Zheng, DING Wen-jie, LIN Yong. Optimization design of multi-lane stereo garage and research on vehicle access strategy[J]. Chinese Journal of Engineering Design, 2021, 28(4): 443-449.
[11] LIU Xiao-yu, TIAN Ying, ZHANG Ming-lu. Review of underwater manipulator dynamics research[J]. Chinese Journal of Engineering Design, 2021, 28(4): 389-398.
[12] YAN Guo-ping, ZHOU Jun-hong, ZHONG Fei, LI Zhe, ZHOU Hong-di, PENG Zhen-ao. Design and optimization of magnetic compression correction device for paper-plastic composite bag[J]. Chinese Journal of Engineering Design, 2021, 28(3): 367-373.
[13] WANG Yan, LIU Jing-yu, LI Guang, ZHANG Jia-bo, LIU Xing, ZHOU Xin-xin. Design of navigation control system of AGV based on IGPS and Mecanum wheel[J]. Chinese Journal of Engineering Design, 2020, 27(5): 662-670.
[14] ZHANG Shuai, HAN Jun, TU Qun-zhang, YANG Xiao-qiang, YANG Xuan. Multi-objective optimization design of deployable mechanism of scissor folding bridge based on GA-NLP[J]. Chinese Journal of Engineering Design, 2020, 27(1): 67-75.
[15] YUAN Kai, LIU Yan-jun, SUN Jing-yu, LUO Xing. Research on control of underwater manipulator based on fuzzy RBF neural network[J]. Chinese Journal of Engineering Design, 2019, 26(6): 675-682.