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题名: An alterable gain adaptive control compensation methods for hydraulic servo joint based on ANFIS
作者: Zhu XL(朱兴龙) ; Wang HG(王洪光) ; Zhao MY(赵明扬) ; Zhou JP(周骥平)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Mechatronics Automation
会议日期: July 29 - August 1, 2005
会议地点: Niagara Falls, CANADA
会议主办者: IEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Univ Elect Sci & Technol China, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn
会议录: 2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2005
页码: 148-154
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-9044-X
关键词: control compensation methods ; ANFIS ; hydraulic servo joint ; alterable gain
摘要: The tracking errors often occur during the position tracking because the hydraulic servo joint is a nonlinear dynamic system with saturation, dead zone and stroke coupling. In order to solve this problem, the working principal of the joint is described, and the dynamic model of the joint is established. A control compensation method with adaptive network based fuzzy inference system (ANFIS) is presented. The method enables to adjust the alterable gain coefficients by the sample data sets training and self-learning. The position tracking errors, in which saturation, dead zone and stroke coupling result, are eliminated. Eventually, the simulation results show that the method is feasible.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8557
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
朱兴龙; 王洪光; 赵明扬; 周骥平 .An alterable gain adaptive control compensation methods for hydraulic servo joint based on ANFIS.见:IEEE .2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings,NEW YORK,2005,148-154
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