Open AccessDESIGN AND MODELING OF ANFIS REGULATOR TO COMPENSATE DEVIATIONS OF MOBILE PLATFORM OF PARALLEL CABLE-DRIVEN ROBOT
Author(s) -
Е. А. Марчук,
А. В. Малолетов
Publication year - 2021
Publication title -
izvestiâ volgogradskogo gosudarstvennogo tehničeskogo universiteta
Language(s) - English
Resource type - Journals
ISSN - 1990-5297
DOI - 10.35211/1990-5297-2021-9-256-42-48
Subject(s) - regulator , adaptive neuro fuzzy inference system , compensation (psychology) , control theory (sociology) , control engineering , engineering , robot , computer science , control (management) , fuzzy logic , fuzzy control system , artificial intelligence , psychology , biochemistry , chemistry , psychoanalysis , gene
The article deals with a description of design and modeling of neuro-fuzzy regulator (ANFIS) which provides a compensation of deviations of mobile platform of parallel cable-driven robot. The regulator uses adjusting of lengths of unwounded cables. Evaluation of the control system has been made according to the quality criterion as an elongation of each cable comparatively to given values.