A PID-type T-S fuzzy controller for constant force actuator based on PSO

Abstract

Aiming at the requirement of constant force control precision and response speed of grinding robot in grinding process, a PID-type fuzzy controller for constant force actuator optimized with particle swarm optimization is proposed. A new PID-type fuzzy controller is designed to reduce the number of design rule bases. The variable weight comprehensive fitness function is proposed, which combines the absolute value of the error integral and the absolute value of the control signal integral to optimized the comprehensive performance of the PID-type fuzzy controller, while reducing overshoot quantity and steady-state error. The adaptive inertia weight strategy is used to speed up the iteration speed of the particle swarm, the scale factors of the PID-type fuzzy controller is optimized with the particle swarm algorithm. The simulation results show that comparing to the traditional PID the PID-type fuzzy controller with particle swarm optimization has a smoother output curve, its response speed is increased by 10%, its adjustment time is shortened by 14%, and it has no overshoot and no oscillation, which improves the control precision of grinding force.

Keywords

• robot grinding
• constant force control
• pid-type fuzzy control
• fitness function
• particle swarm optimization