The study of robot actuator control based on fuzzy algorithm

The actuator control system of teleoperation surgical robot requires high precision, fast response, strong anti interference and as much as possible no overshooting. Aimed at these characters, combined with new developments of modern control theory and introduced Fuzzy Adaptive control theory to make the PID parameters to fulfill real-time adaptive adjustment. The purpose is to improve the dynamic and the anti interference and to restrain the system overshoot performance of the actuator control system. The mathematical model of the controlled system was established by theoretical analysis. The simulation and the comparison with the conventional PID control proved the feasibility and effectiveness of the proposed algorithm.