Fuzzy PID Control of Space Manipulator for Both Ground Alignment and Space Applications

Considering gravity change from ground alignment to space applications, a fuzzy proportional-integral-differential(PID)control strategy is proposed to make the space manipulator track the desired trajectories in different gravity environments. The fuzzy PID controller is developed by combining the f...

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Bibliographic Details
Published in:International journal of automation and computing 2014-08, Vol.11 (4), p.353-360
Main Authors: Liu, Fu-Cai, Liang, Li-Huan, Gao, Juan-Juan
Format: Article
Language:English
Subjects:
alignment
applications
CAE) and Design
Computer Applications
Computer-Aided Engineering (CAD
Control
Engineering
environment
Fuzzy
Fuzzy logic
Fuzzy set theory
gravity
ground
manipulator
Manipulators
Mechatronics
Proportional integral derivative
proportional-integral-differential(PID)
Regular Paper
Robot arms
Robotics
Space
Space applications
tracking
Trajectories
trajectory
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Summary:Considering gravity change from ground alignment to space applications, a fuzzy proportional-integral-differential(PID)control strategy is proposed to make the space manipulator track the desired trajectories in different gravity environments. The fuzzy PID controller is developed by combining the fuzzy approach with the PID control method, and the parameters of the PID controller can be adjusted on line based on the ability of the fuzzy controller. Simulations using the dynamic model of the space manipulator have shown the effectiveness of the algorithm in the trajectory tracking problem. Compared with the results of conventional PID control,the control performance of the fuzzy PID is more effective for manipulator trajectory control.
ISSN:1476-8186
1751-8520
DOI:10.1007/s11633-014-0800-y