WIT Press


A Software Package For The Fuzzy Control Of A Flexible Manipulator

Price

Free (open access)

Paper DOI

10.2495/ES010111

Volume

31

Pages

10

Published

2001

Size

986 kb

Author(s)

C.K. Lee & N.M. Kwok

Abstract

A software package for the fuzzy control of a flexible manipulator C.K. Lee* & N.M. Kwok^ Department of Electronic and Information Engineering, Hong Kong Polytechnic University, Hong Kong S.A.R. ^Department of Electronic Engineering, Hong Kong Institute of Vocational Education (Morrison Hill), Hong Kong S.A.R. Abstract The tip angular position control of a flexible manipulator is studied in this paper. The flexible manipulator is a thin rectangular metal beam driven by a dc motor and carries a payload at the tip. The system, being a distributed parameter system, contains an infinite number of vibration modes and measurement of individual mode for feedback control purpose is difficult or expensive. Here, we propose to use a fuzzy logic controller (FLC) designed on the basis of a sliding mode controller (SMC). The fuzzy controller is used to generate the equivalent control, and is augmented by a dither control signal. A variation of FLC design is adopted to reduce the number of fu

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