“灵巧手指”的位置/力模糊控制算法研究

摘要

Aiming at improving the performance of the position-force con trol of the dexterous fi nger, the paper uses fuzzy control and neural network in the design of the force control ler. Fuzzy control algorithm and neural-network-based fuzzy control with integ ra ting algorithm are proposed. Simulation results shows that the two kinds of cont rol scheme are evidently better than PID control in controlling the performance.%为了使“灵巧手指”位置/力控制具有良好的控制性能，在力控制器的设计中应用了 模糊控制、神经网络等方法，提出了模糊控制、基于神经网络带积分环节的模糊控制两种算 法。仿真结果表明：这两种控制方法与常规PID控制相比，控制性能得到明显改善。