A stochastic fuzzy control method is used to construct a robust servo controller that can remove a steady-state tracking error. The present method is applied to the position control problem of a prismatic link, where the position is assumed to be measured by using a linear potentiometer with a mesurement noise. It is shown from some computer simulations that although the pressent controller basically consists of 1-type servo structure, it is very robust against not only a time-varying distrubance but also random noise, compared to a conventional robust controller.
|ジャーナル||Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|出版ステータス||Published - 1998|
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