%0 Journal Article
%T Experiment Study of a Mechanical Manipulator under uncertainty by Hybrid Fuzzy P+ID Controllers<br>不确定性操作臂的混合模糊P+ID控制的实验研究
%A CHANG Xiao-guang
%A LI Wei
%A F M Wahl
%A <br>常晓光
%A 李　伟
%A 弗里德希·华尔
%J 控制理论与应用
%D 2000
%I 
%X This paper presents a hybrid control scheme for the mechanical manipulator, which consists of a fuzzy logic proportional controller and a conventional integral and derivative one (Fuzzy P ID). In comparison with the PID controller, only one additional parameter should be adjusted to tune the Fuzzy P ID controller. The proposed control scheme is implemented to control a two link manipulator EDDA under geometrical parameters' changes. The experimental results on both of tracking and step control demonstrate the effectiveness and the robustness of the Fuzzy P ID controller.
%K manipulators
%K the incremental fuzzy logic controller
%K uncertainty
%K fuzzy P ID controller<br>机械臂
%K 不确定性
%K P＋ID控制
%K 模糊控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=5B928E5C07B6916CD4A3711ACD3A6648&yid=9806D0D4EAA9BED3&vid=BCA2697F357F2001&iid=CA4FD0336C81A37A&sid=B9704B40A4225A24&eid=46CB27789995047D&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=6&reference_num=6