| Summary: | 碩士 === 國立中央大學 === 電機工程研究所 === 88 === Abstract
In this study, we propose a new model to combine with fuzzy control and grey predictor to improve the output response that only use fuzzy theorem to manipulate the robotic motion control. Actually, if we only use the fuzzy controller to control the system, the system factor of system performance such as the rising time and the overshoot were not the desired. In general, the rising time and the overshoot are the important indices of the system response. However, most of controllers can not improve the overshoot and the rising time at the same time. Here, we propose a new technique that can prevent the system response from exceeding the set point and adjust the rising time by using the sampling interval of data sequence"n". The idea is employed to the control of a three-axis robot. The experimental results show that the proposed controller not only drastically reduce the overshoot, but also maintain a small extent of the settling time and the steady state error.
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