Inverse Dynamics Based Fuzzy Logic Controller for a Single-Link Flexible Manipulator-Reference-Cited by-同舟云学术

Inverse Dynamics Based Fuzzy Logic Controller for a Single-Link Flexible Manipulator

Published:2005-01-01 Issue: Volume: Page:
ISSN:
Container-title:Dynamic Systems and Control, Parts A and B
language:
Short-container-title:

Author:

Renno Jamil M.¹

Affiliation:

1. University of Nevada at Las Vegas

Abstract

This paper presents a novel method for an inverse dynamics based fuzzy logic controller (FLC) of a single-link flexible manipulator. The control action is distributed between two FLCs: a joint angle controller and a tip controller. A method for varying the ranges of the variables of the two controllers as a function of the motion parameters and the inverse dynamics of the system is presented. Simulation results show that the joint trajectory tracking is accomplished and the residual vibration of the flexible link is suppressed.

Publisher

ASMEDC

Link

http://asmedigitalcollection.asme.org/IMECE/proceedings-pdf/doi/10.1115/IMECE2005-79028/2634032/841_1.pdf

Reference19 articles.

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