Hierarchical adaptive network based fuzzy logic controller design for a single flexible link robot manipulator

被引：0
|
作者：
Kalyoncu, Mete [1 ]
Tinkir, Mustafa [1 ]
机构：
[1] Selcuk Univ, Fac Engn & Architecture, Dept Mech Engn, TR-42079 Konya, Turkey
来源：
2008 13TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE, VOLS 1-5 | 2008年
关键词：
Fuzzy control; neural network; adaptive control; motion control; robotics; modelling;
D O I：
10.1109/EPEPEMC.2008.4635394
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this study, hierarchical adaptive network based fuzzy logic controller for a single flexible link robot manipulator is designed. This study is aimed to get the end of the flexible robot manipulator to desired position and terminate vibrationson arm while it moves under the action of an external driving torqua The proposed controller has two subsystems. The fast-subsystem reduces the vibration of the flexible robot manipulator end point, and the other slow-subsystem controller controls the desired position. The performance of the proposed control system is evaluated on the basis of the experimental results.
引用
收藏
页码：974 / 981
页数：8
相关论文
共 50 条
  • [1] Design of Adaptive Fuzzy Controller for Flexible Link Manipulator
    Liu, Hongyan
    Huang, Yumei
    Shi, Wenhao
    Xu, Hongwei
    [J]. 2008 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-5, 2008, : 2107 - 2110
  • [2] Adaptive Network Based Fuzzy Logic Control of a Rigid - Flexible Robot Manipulator
    Onen, Umit
    Tinkir, Mustafa
    Kalyoncu, Mete
    Botsali, Fatih Mehmet
    [J]. 2010 2ND INTERNATIONAL CONFERENCE ON COMPUTER AND AUTOMATION ENGINEERING (ICCAE 2010), VOL 1, 2010, : 102 - 106
  • [3] Inverse dynamics based fuzzy logic controller for a single-link flexible manipulator
    Renno, Jamil M.
    [J]. PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B, 2005, : 841 - 848
  • [4] SELF-TUNING PID CONTROLLER DESIGN USING FUZZY LOGIC FOR A SINGLE-LINK FLEXIBLE JOINT ROBOT MANIPULATOR
    Dehghani, Ali
    Khodadadi, Hamed
    [J]. JURNAL TEKNOLOGI, 2016, 78 (6-13): : 115 - 120
  • [5] Inverse dynamics based tuning of a fuzzy logic controller for a single-link flexible manipulator
    Renno, Jamil M.
    [J]. JOURNAL OF VIBRATION AND CONTROL, 2007, 13 (12) : 1741 - 1759
  • [6] Design and tuning of importance-based fuzzy logic controller for a flexible-link manipulator
    Shi, Linda Z.
    Trabia, Mohamed B.
    [J]. JOURNAL OF INTELLIGENT & FUZZY SYSTEMS, 2006, 17 (03) : 313 - 323
  • [7] Adaptive Network Based Interval Type-2 Fuzzy Logic Controller Design For A Single Flexible Link Carrying A Pendulum
    Tinkir, Mustafa
    Onen, Umit
    Kalyoncu, Mete
    Sahin, Yusuf
    [J]. 2010 2ND INTERNATIONAL CONFERENCE ON COMPUTER AND AUTOMATION ENGINEERING (ICCAE 2010), VOL 1, 2010, : 112 - 116
  • [8] Semi hierarchical adaptive network based fuzzy logic controller design for a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint
    Kalyoncu, Mete
    Tinktri, Mustafa
    [J]. 2008 13TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE, VOLS 1-5, 2008, : 1132 - 1139
  • [9] BNN-based fuzzy logic controller for flexible-link manipulator
    Siddique, M. N. H.
    Hossain, M. A.
    Tokhi, M. O.
    [J]. CLIMBING AND WALKING ROBOTS, 2006, : 575 - 582
  • [10] Hierarchical fuzzy controller for robot manipulator
    Hadi, Ahmed Abdel
    Elshafei, Abdel Latif
    [J]. 2006 INTERNATIONAL CONFERENCE ON COMPUTER ENGINEERING & SYSTEMS, 2006, : 33 - +
12345