Thiết Kế và Kiểm Nghiệm Luật Điều Khiển PID Mờ Cho Cơ Nhân Tạo

Tóm tắt

Along with the remarkable development of science and technology, recently, robot application in life is quite popular such as robots
interacting with humans, rehabilitation robots, etc. Therefore, the pneumatic artificial muscle (PAM) has been studied for application in robot
manufacturing. However, the high-performance control system construction is difficult due to the non-linear structure of an artificial muscle.
With a classic Proportional-Integral-Derivative (PID) control, the trajectory tracking performance is not high because a fixed set of PID
parameters does not solve the enhancing performance problem. Therefore, in this paper, a fuzzy PID control (FPIDC) for a PAM is presented
to improve the trajectory tracking performance. The efficiency of the proposed controller has been verified by experiment under different
conditions.