ASYMMETRIC FUZZY PID CONTROL FOR PNEUMATIC ROBOT POSITION CONTROL SYSTEM

摘要

This paper presents a new fuzzy PID algorithm of asymmetric fuzzy strategy for pneumatic robot position control. It can effectively solve the difficult problems of single rod cylinder, which are mainly caused by asymmetric structure and different friction characteristics in two directions. Both the theoretical analysis and experimental results prove that, with this strategy, the dynamic performance of the system can be much improved. The system obtains desired percentage overshoot and repeatability in both transient and steady-state responses.