Mathematical modeling and fuzzy control of a flexible-link robot arm

被引：47
|
作者：
Sooraksa, P [1 ]
Chen, GR [1 ]
机构：
[1] Univ Houston, Dept Elect & Comp Engn, Houston, TX 77004 USA
来源：
MATHEMATICAL AND COMPUTER MODELLING | 1998年 / 27卷 / 06期
关键词：
PDE model; flexible beam; timoshenko theory; fuzzy control; PID controller;
D O I：
10.1016/S0895-7177(98)00030-2
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
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. Detailed analysis and derivation are given to support the mathematical modeling of this particular flexible mechanism. A new design of a fuzzy-logic-based (PI + D)(2) control Scheme is developed for both vibration suppression and set-point tracking. Computer simulation results for the modeling are performed to observe the significant vibration modes, and simulation results for the control scheme demonstrate that the controllers perform very well for the tracking based on this flexible-link model. A newly developed method for stability analysis using the "two-straight-lines" criterion is also presented.
引用
收藏
页码：73 / 93
页数：21
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