Study on fuzzy PD control of planar two-link flexible manipulator

被引：0
|
作者：
Peng, GZ [1 ]
Wang, XS [1 ]
Xue, Y [1 ]
机构：
[1] Beijing Inst Technol, Coll Comp & Control, Beijing 100081, Peoples R China
来源：
2002 IEEE REGION 10 CONFERENCE ON COMPUTERS, COMMUNICATIONS, CONTROL AND POWER ENGINEERING, VOLS I-III, PROCEEDINGS | 2002年
关键词：
flexible manipulator; fuzzy control; PD control;
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：
In this paper, we emphasized on the research of dynamic nonlinear control of planar two-link flexible manipulators. The flexible manipulator is a nonlinear and strong coupling dynamic system, and the complicated control system of which has a bad control property of real time and stability. According to the control problems above, the fuzzy composed controller with a nonlinear compensatory and a PD controller is proposed by well considered both the dynamic and static control properties of the system. At last, the control method is verified by computer simulation, based on the dynamic model of a planar two-link flexible manipulator. The simulation results show that the control strategy has a good result on the elastic vibration reducing of flexible manipulators.
引用
收藏
页码：1542 / 1545
页数：4
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