Adaptive Fuzzy Immune PID Control for Multi-Joint Robots

  title={Adaptive Fuzzy Immune PID Control for Multi-Joint Robots},
  author={De Quan Zhu and Cheng Mao Cao and Lei Sun and Mei Zhu},
To improve the control precision of multi-joint robots, a adaptive fuzzy immune PID control method for multi-joint robots was presented based on the immune feedback mechanism and fuzzy control theory, and the parameters of PID controller was optimized with hybrid algorithm. First, least square algorithm was used for off-line optimization to form immune feedback control system. Then, genetic algorithm was used for on-line optimization to get the optimal performance parameters of immune PID… CONTINUE READING