Rule-Based Fuzzy Control of a Single-Link Flexible Manipulator in the Presence of Joint Friction and Load Changes
Conference Paper, Proceedings of American Control Conference (ACC '89), pp. 2749 - 2750, June, 1989
Abstract
A rule-based fuzzy control method is proposed in this paper for the control of single-link, lightweight, flexible manipulators. The objective of this method is to control the tip position of a flexible manipulator in the presence of joint friction and changes in the payload. Both linear and nonlinear friction are overcome using a robust control scheme. The control scheme is based on two nested feedback loops: an inner loop to control the position of the motor and an outer loop to control the tip position. The tip position is controlled by a rule-based fuzzy controller. This results in a simple control law that needs minimal computing effort and can be used for real-time control of flexible arms.
BibTeX
@conference{Rattan-1989-122529,author = {Kuldip S. Rattan and B. Chiu and Vincente Feliu and H. Benjamin Brown},
title = {Rule-Based Fuzzy Control of a Single-Link Flexible Manipulator in the Presence of Joint Friction and Load Changes},
booktitle = {Proceedings of American Control Conference (ACC '89)},
year = {1989},
month = {June},
pages = {2749 - 2750},
}
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