Inverse dynamics based fuzzy logic controller for a single-link flexible manipulator

被引：0
|
作者：
Renno, Jamil M. [1 ]
机构：
[1] Univ Nevada, Dept Mech Engn, Las Vegas, NV 89154 USA
来源：
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B | 2005年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：841 / 848
页数：8
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