Fuzzy based Gains Tuning of PD controller for joint position control of AIT Leg Exoskeleton-I (ALEX-I).
Narong AphiratsakunManukid ParnichkunPublished in: ROBIO (2008)
Keyphrases
- position control
- control scheme
- robotic manipulator
- feedback loop
- closed loop
- fuzzy controller
- control strategy
- control system
- dc motor
- force control
- impedance control
- pid controller
- control strategies
- pi controller
- fuzzy logic controller
- fuzzy logic
- fuzzy sets
- control law
- control architecture
- fuzzy neural network
- controller design
- robot manipulators
- robot arm
- membership functions
- control method
- dynamic model
- degrees of freedom
- real time
- fuzzy rules
- control algorithm
- steady state
- parameter tuning
- operating conditions
- feedback control
- fine tuned
- mobile robot
- fuzzy clustering
- adaptive control
- fine tuning
- fuzzy control
- end effector
- pose estimation
- optimal control
- pso algorithm