| Summary: | 碩士 === 大同大學 === 電機工程學系(所) === 93 === In this thesis, we used PID-type controller as the foundation, to develop a hybrid fuzzy logic proportional term plus conventional integral and derivative terms (FUZZY P+ID) controller for improving the control response. This kind of controller is constructed by using an incremental fuzzy logic controller in place of the proportional term in the conventional PID controller. This thesis basic principle of this study is to reduce the parameters of a fuzzy controller to be tuned so that, in comparison with the PID-type controller, only one additional parameter should be adjusted. Using conventional PID controller, however, it is difficult to achieve a desired tracking control performance since the dynamic equations of a plant for the manipulator are tightly coupled, highly nonlinear and uncertain. In order to improve the tracking control performance under uncertainty, we propose a new hybrid control scheme for the nonlinear plants, which consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). Finally, detailed numerical design processes and simulation results are performed to illustrate the effectiveness of the proposed scheme.
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