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A predictive controller based on dynamic matrix control for a non-minimum phase robot manipulator

✍ Scribed by Shima Eshaghi, Hamed Kharrati, Mohammad Ali Badamchizadeh, Iraj Hasanzadeh

Book ID
113107004
Publisher
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Year
2012
Tongue
English
Weight
708 KB
Volume
10
Category
Article
ISSN
1598-6446

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In this paper, a fuzzy PID controller, is investigated on the basis of genetic algorithms (GAs) to eliminate the undershoot of a nonminimum-phase (NMP) system and to improve the transient response at the same time. The proposed controller employs a two-stage control structure, where the fuzzy PI con