Trajectory Tracking Control of a Manipulator Based on an Adaptive Neuro-Fuzzy Inference System

Abstract

Taking an intelligent trimming device hydraulic manipulator as the research object, aiming at the uncertainty, nonlinearity and complexity of its system, a trajectory tracking control scheme is studied in this paper. In light of the virtual work principle, a coupling dynamic model of the hydraulic system and manipulator system is established. In order to improve the anti-interference and adaptive abilities of the manipulator system, a compound control strategy combining the adaptive neuro-fuzzy inference system (ANFIS) and proportional integral derivative (PID) controller is proposed. The neural adaptive learning algorithm is utilized to train the given input and output data to adjust the membership functions of the fuzzy inference system, then the PID parameters can be adjusted adaptively to accomplish trajectory tracking. Based on MATLAB/Simulink, the simulation model is established. In addition, to prove the effectiveness of the ANFIS-based PID controller (ANFIS-PID), its performance is compared with PID and fuzzy PID (FPID) controllers. The simulation results indicate that the ANFIS-PID controller is superior to the other controllers in control effect and control precision, and provides a more accurate and effective method for the control of agriculture.

Keywords

• hydraulic manipulator
• ANFIS-PID
• trajectory tracking
• MATLAB/Simulink