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Control of a four-rope-driven level-adjustment robot based on the SIRMs dynamically connected fuzzy inference model
Zhang, Jianhong; Yi, Jianqiang; Tan, Xiangmin
Source PublicationICIC Express Letters, Part B: Applications
2010
Volume1Issue:1Pages:63-70
AbstractIn the paper, a control scheme, based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy inference model, is designed for a four-rope-driven level-adjustment robot to level the eccentric payload and balance the rope tension. The control scheme is composed of four controllers separately controlling one independent rope's length. Each controller, composed of nine sub-controllers, selects different sub-controllers to deal with different limit switches' situations. Each sub-controller is set up such that the angular control of the payload takes higher priority than the rope tension. Experiment results show that the control scheme works very well and can handle all possible situations.
KeywordFuzzy Control Siem (Single Input Rle Module) Duamic Importance Degree Rope Level-adjustment Robot
Indexed ByEI
WOS IDWOS:20104113278078
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/4130
Collection综合信息系统研究中心
Corresponding AuthorZhang, Jianhong
Recommended Citation
GB/T 7714
Zhang, Jianhong,Yi, Jianqiang,Tan, Xiangmin. Control of a four-rope-driven level-adjustment robot based on the SIRMs dynamically connected fuzzy inference model[J]. ICIC Express Letters, Part B: Applications,2010,1(1):63-70.
APA Zhang, Jianhong,Yi, Jianqiang,&Tan, Xiangmin.(2010).Control of a four-rope-driven level-adjustment robot based on the SIRMs dynamically connected fuzzy inference model.ICIC Express Letters, Part B: Applications,1(1),63-70.
MLA Zhang, Jianhong,et al."Control of a four-rope-driven level-adjustment robot based on the SIRMs dynamically connected fuzzy inference model".ICIC Express Letters, Part B: Applications 1.1(2010):63-70.
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