Journal ArticleDOI
Hybrid Feedback Linearization/Fuzzy Logic Control of a Flexible Link Manipulator
K. Liu,Frank L. Lewis +1 more
TLDR
A feedback-linearization/fuzzy logic control scheme for a robotic manipulator with link flexibility is designed and a linguistic fuzzy controller that consists of 33 condition-action rules is used to command the rigid modes to track the desired trajectories while maintaining the residual vibration as small as possible.Abstract:
A feedback-linearization/fuzzy logic control scheme for a robotic manipulator with link flexibility is designed. This control scheme is composed of a feedback-linearization inner-loop control and a fuzzy linguistic outer-loop control. A reduced-order computed torque ROCT control is first used to linearize the whole system to a Newton's-law-like system, then a linguistic fuzzy controller that consists of 33 condition-action rules is used to command the rigid modes to track the desired trajectories while maintaining the residual vibration as small as possible.read more
Citations
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Journal ArticleDOI
Fuzzy PID control of a flexible-joint robot arm with uncertainties from time-varying loads
TL;DR: This paper presents the design and experiment of a fuzzy proportional integral derivative (PID) controller for a flexible-joint robot arm with uncertainties from time-varying loads, and convincingly demonstrated that fuzzy logic control can be used for flexible-Joint robot arms with uncertainties and it is quite robust.
Journal ArticleDOI
Implementation of a neural network tracking controller for a single flexible link: comparison with PD and PID controllers
TL;DR: It is shown that the tracking performance of the NN controller is far better than that of the PD or PID standard controllers.
Journal ArticleDOI
Mathematical modeling and fuzzy control of a flexible-link robot arm
P. Sooraksa,Guanrong Chen +1 more
TL;DR: In this paper, the Timoshenko theory is applied to investigate a new mathematical model for the shoulder-elbow-like single flexible-link robot arm with dampings, and a new design of a fuzzy-logic-based (PI + D)^2 control scheme is developed for both vibration suppression and set-point tracking.
Journal ArticleDOI
Fuzzy logic control for flexible link robot arm by singular perturbation approach
TL;DR: A two-time scale fuzzy logic controller will be applied for flexible-link robot arm control using fuzzy logic, and a singular perturbation approach to reduce the effect of spillover.
Proceedings ArticleDOI
Some issues about fuzzy logic control
K. Liu,Frank L. Lewis +1 more
TL;DR: A class of fuzzy numbers which the authors call "semi-closed, continuous, totally ordered, and well-defined fuzzy numbers" has very nice orderliness properties and it can be show that the fuzzy logic controller based on the filtered tracking error works like a variable structure controller.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal Article
Fuzzy logic in control systems : fuzzy logic controller. Part II
TL;DR: The fuzzy logic controller (FLC) based on fuzzy logic provides a means of converting a linguistic control strategy based on expert knowledge into an automatic control strategy.
Journal ArticleDOI
A singular perturbation approach to control of lightweight flexible manipulators
Bruno Siciliano,Wayne J. Book +1 more
TL;DR: The control of lightweight flexible manipulators is the focus of this work, and a comparison is made between the perform ance achieved with a two-time-scale controller and with a state feedback regulator.
Journal ArticleDOI
Industrial applications of fuzzy logic control
TL;DR: It is concluded that further investigations are required with respect to the applicability of structural programming, and stability problems in fuzzy control systems.