Fuzzy and neuro-fuzzy approaches to control a flexible single-link manipulator

被引：24
|
作者：
Subudhi, B [1 ]
Morris, AS [1 ]
机构：
[1] Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield S1 3JD, S Yorkshire, England
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2003年 / 217卷 / I5期
关键词：
fuzzy logic; neural network; flexible link; manipulator; tip position;
D O I：
10.1243/095965103770041724
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 paper, new fuzzy and neuro-fuzzy approaches to tip position regulation of a flexible-link manipulator are presented. Firstly, a non-collocated, proportional-derivative (PD) type, fuzzy logic controller (FLC) is developed. This is shown to perform better than typical model-based controllers (LQR and PD). Following this, an adaptive neuro-fuzzy controller (NFC) is described that has been developed for situations where there is payload variability. The proposed NFC tunes the input and output scale parameters of the fuzzy controller on-line. The efficacy of the NFC has been evaluated by comparing it with a fuzzy model reference adaptive controller (FMRC).
引用
收藏
页码：387 / 399
页数：13
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