title: Fuzzy auto-tuning PID control of multiple joint robot driven by ultrasonic motors.
abstract: A three-joint robot is directly driven by ultrasonic motors with advantage of high torque at low speed. The speed of the ultrasonic motors is actually controlled by regulating their operating frequencies. The kinematic and kinetic analyses of the robot have been carried out using Adams. Due to the lack of accurate control model of ultrasonic motors and the time-varying motor parameters, a fuzzy auto-tuning proportional integral derivative (PID) controller for the robot is experimented, in which a simple method to tune parameters of the PID type fuzzy controller on-line is developed and a new position-speed feedback strategy is proposed and implemented. The effectiveness of the proposed control strategy and fuzzy logic controller is verified by experimental investigation.
authors.affiliation: College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Box 359, No. 29 Yu-dao-jie, Nanjing 210016, China. meezjsun@nuaa.edu.cn
authors.forename: Zhijun
authors.initials: Z
authors.lastname: Sun
authors.forename: Rentao
authors.initials: R
authors.lastname: Xing
authors.forename: Chunsheng
authors.initials: C
authors.lastname: Zhao
authors.forename: Weiqing
authors.initials: W
authors.lastname: Huang
mesh_terms: D000465:Algorithms; D003198:Computer Simulation; D005246:Feedback; D017143:Fuzzy Logic; D008962:Models, Theoretical; D009068:Movement; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D014465:Ultrasonics