Vibration Reduction Techniques using LQR and PD-type Fuzzy Logic Controller: A Comparative Assessment

被引：0
作者：
Ahmad, M. A. [1 ]
机构：
[1] Univ Malaysia Pahang, Fac Elect & Elect Engn, Control & Instrumentat Res Grp COINS, Kuantan, Malaysia
来源：
ICED: 2008 INTERNATIONAL CONFERENCE ON ELECTRONIC DESIGN, VOLS 1 AND 2 | 2008年
关键词：
Flexible manipulator; vibration control; Linear Quadratic Regulator; PD-type Fuzzy Logic controller;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents the use of angular position control approaches for a flexible manipulator with disturbances effect in the dynamic system. Linear Quadratic Regulator (LQR) and proportional-derivative (PD)-type fuzzy logic controller are the techniques used in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method A complete analysis of simulation results for each technique is presented in time domain and frequency domain respectively. Performances of both controllers are examined in terms of vibration suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed.
引用
收藏
页码：214 / 219
页数：6
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