NDLI: Comparative study of fuzzy PD control and PI control for heavy duty robot

Content Provider	IEEE Xplore Digital Library
Author	Chang-Min Ko Seung-Kyu Park Tae-Sung Yoon Doo-Hyeong Kim Gwang-Jo Chung
Copyright Year	2009
Description	Author affiliation: Department of Electrical Engineering, Changwon National University, 9 Sarim-dong, Gyeongnam, 641-773, South Korea (Chang-Min Ko; Seung-Kyu Park; Tae-Sung Yoon) \|\| Intelligence Machine Research Center Team, Korea Institute of Machinery & Materials, 171, Jang-dong, Yuseong-gu, Daejeon, 305-343, South Korea (Doo-Hyeong Kim; Gwang-Jo Chung)
Abstract	This paper presents comparative experimental results of fuzzy PD control and PI control for a heavy duty robot which can handle an object of 600kg. The gains of the PI control was determined by TAE(Trial And Error) method. The membership functions of the fuzzy PD controller were determined base on the control performance of the PI control and its result is compared to the PI control. This paper is a comparative study of the PI control and fuzzy PD control. The robot and motion controllers were designed and made by authors. The good control performance of the heavy duty robot was obtained by using simple control algorithm. This means that the robot was designed very well in control respect.
Starting Page	1
Ending Page	5
File Size	685656
Page Count	5
File Format	PDF
ISBN	9781424435067
DOI	10.1109/ICIT.2009.4939718
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-02-10
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control PD control Pi control Service robots Motion control Robot control Testing Fuzzy logic Error correction Three-term control Fuzzy Control Heavy Duty Robot Gain Tuning PID control
Content Type	Text
Resource Type	Article

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