Intelligent PI Fuzzy Control of An Electro-Hydraulic Manipulator

Abstract

The development of a fu zzy-logic controller for a class of industrial hydraulic man ipulator is described. The main element of the controller is a PItype fuzzy control technique which utilizes a simp le set of membership functions and rules to meet the basic control requirements of such robots. Using the triangle shaped membership function, the position of the servocylinder was successfully controlled. When the system parameter is altered, the control algorith m is shown to be robust and more faster co mpared to the traditional PID controller. The robustness and tracking ability of the controller were demonstrated through simulations.