国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

Most fuzzy controllers do not have the ability to adapt to the change of the control object. Based on this, a self-adjusting factor fuzzy controller is designed. Aiming at the problem that the motion accuracy of the manipulator decreases due to long-time repeated operation, combined with the iterative learning control method, a self-adjusting factor fuzzy PD iterative learning control method is proposed. Taking the double joint manipulator as the research object, the fuzzy control rules are written by using the fuzzy toolbox. The quantitative factor and scale factor in the fuzzy system are adjusted by using the system error and the error change rate as the input of the fuzzy controller. The updating of fuzzy rules and the real-time adjustment of PD parameters in the iterative learning control are realized. The adaptability of the system gets improved. The simulation results show that the error generated by the proposed control method can be accurate to 0.0001rad, and the convergence of joint angle and angular velocity error tends to zero in the second iteration, so the overall control effect is better.