Research Article
Constant Force PID Control for Robotic Manipulator Based on Fuzzy Neural Network Algorithm
Table 2
Fuzzy rule setting for
, , and
.
| e, ec | NB | NM | NS | ZO | PS | PM | PB |
| NB | PB/NB/PS | PB/NB/NS | PM/NM/NB | PM/NM/NB | PS/NS/NB | ZO/ZO/NM | ZO/ZO/PS | NM | PB/NB/PS | PB/NB/NS | PM/NM/NB | PS/NS/NM | PS/NS/NM | ZO/ZO/NS | NS/ZO/ZO | NS | PM/NM/ZO | PM/NM/NS | PS/NS/NM | PS/NS/NM | ZO/ZO/NS | NS/PS/NS | NS/PS/ZO | ZO | PM/NM/ZO | PM/NM/NS | PS/NS/NS | ZO/ZO/NS | NS/PS/NS | NM/PM/NS | NM/PM/ZO | PS | PS/NM/ZO | PS/NS/ZO | ZO/ZO/ZO | NS/PS/ZO | NS/PS/ZO | NM/PM/ZO | NM/PB/ZO | PM | PS/ZO/PB | ZO/ZO/NS | NS/PS/PS | NM/PS/PS | NM/PM/PS | NM/PB/PS | NB/PB/PB | PB | ZO/ZO/PB | ZO/ZO/PM | NM/PS/PM | NM/PM/PM | NM/PM/PS | NB/PB/PS | NB/PB/PB |
|
|