A fuzzy supervisor for flexible manipulator control

Author

Garcia-Benitez, Erick ; Yurkovich, Stephen ; Passino, Kevin M.

Author_Institution

Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA

fYear

1991

fDate

13-15 Aug 1991

Firstpage

37

Lastpage

42

Abstract

A two-level hierarchical control strategy to achieve accurate end-point position of a planar two-link flexible manipulator is proposed. The upper level consists of a feedforward rule-based supervisory controller that incorporates fuzzy logic, whereas the lower level consists of conventional controllers that combine shaft position-endpoint acceleration feedback for disturbance rejection properties and shaping of the (joint) actuator inputs to minimize the energy transferred to the flexible modes during commanded movements. The effectiveness of this hierarchical control strategy is verified by experimental results for various movements of the links, in various configurations

Keywords

feedback; fuzzy logic; hierarchical systems; knowledge based systems; position control; robots; IKBS; accurate end-point position; disturbance rejection; flexible manipulator control; fuzzy logic; fuzzy supervisor; position control; robots; shaft position-endpoint acceleration feedback; two-level hierarchical control strategy; Acceleration; Actuators; Control systems; Feedback; Frequency; Fuzzy control; Fuzzy logic; Motion control; Shape control; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on

Conference_Location

Arlington, VA

ISSN

2158-9860

Print_ISBN

0-7803-0106-4

Type

conf

DOI

10.1109/ISIC.1991.187330

Filename

187330