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
相关论文
共 50 条
  • [21] Adaptive Control of a Two-Link Flexible Manipulator Using a Type-2 Neural Fuzzy System
    Muhammad Umair Khan
    Tolgay Kara
    Arabian Journal for Science and Engineering, 2020, 45 : 1949 - 1960
  • [22] Energy Minimization Approach for a Two-link Flexible Manipulator
    Faris, W. F.
    Ata, A. A.
    Sa'adeh, M. Y.
    JOURNAL OF VIBRATION AND CONTROL, 2009, 15 (04) : 497 - 526
  • [23] Comparison of distributed PD-like and importancebased fuzzy logic controllers for a two-link rigid-flexible manipulator
    Shi, LZ
    Trabia, MB
    JOURNAL OF VIBRATION AND CONTROL, 2005, 11 (06) : 723 - 747
  • [24] Position control of a two-link flexible manipulator featuring piezoelectric actuators and sensors
    Shin, HC
    Choi, SB
    MECHATRONICS, 2001, 11 (06) : 707 - 729
  • [25] Analysis of Parametric Influence on Control of a Two-Link Flexible Manipulator Incorporating a Payload
    Kumar, Pravesh
    Pratiher, Barun
    MACHINES, MECHANISM AND ROBOTICS, INACOMM 2019, 2022, : 1277 - 1288
  • [26] Vibration and Position Control of a Two-Link Flexible Manipulator Using Reinforcement Learning
    Sasaki, Minoru
    Muguro, Joseph
    Kitano, Fumiya
    Njeri, Waweru
    Maeno, Daiki
    Matsushita, Kojiro
    MACHINES, 2023, 11 (07)
  • [27] Direct Adaptive Hybrid PD-PID Controller for Two-Link Flexible Robotic Manipulator
    Mahamood, Rasheedat M.
    WORLD CONGRESS ON ENGINEERING AND COMPUTER SCIENCE, WCECS 2012, VOL II, 2012, : 1127 - 1132
  • [28] Improving the Performance of Adaptive PDPID Control of Two-Link Flexible Robotic Manipulator with ILC
    Mahamood, Rasheedat M.
    ENGINEERING LETTERS, 2012, 20 (03) : 259 - 270
  • [29] Linear matrix inequality-based robust proportional derivative control of a two-link flexible manipulator
    Mohamed, Z.
    Khairudin, M.
    Husain, A. R.
    Subudhi, B.
    JOURNAL OF VIBRATION AND CONTROL, 2016, 22 (05) : 1244 - 1256
  • [30] Broad learning control of a two-link flexible manipulator with prescribed performance and actuator faults
    Niu, Wenkai
    Kong, Linghuan
    Wu, Yifan
    Huang, Haifeng
    He, Wei
    ROBOTICA, 2023, 41 (05) : 1371 - 1388
12345