Flexible link robot arm control by a hierarchical fuzzy logic approach

Author

Lin, J.

Author_Institution

Dept. of Mech. Eng., Ching Yun Inst. of Technol., Jung-Li City, Taiwan

Volume

2

fYear

2002

fDate

6/24/1905 12:00:00 AM

Firstpage

1138

Lastpage

1143

Abstract

This paper concentrates on hierarchical fuzzy logic using the singular perturbation approach for flexible-link robot arm control. A two-time-scale fuzzy logic controller is applied to such a system. A large-scale system is decomposed into a finite number of reduced-order subsystems, thereby eliminating the need for a large-sized inference engine. In this paper, a fast-subsystem controller damps out the vibration of the flexible structure by means of two hierarchical fuzzy logic controllers. Another, slow-subsystem fuzzy controller dominates the trajectory tracking. It appears that the fuzzy control method is quite useful as regards reliability and robustness

Keywords

damping; distributed parameter systems; flexible manipulators; fuzzy control; hierarchical systems; large-scale systems; manipulator dynamics; reliability; robust control; singularly perturbed systems; tracking; vibration control; fast-subsystem controller; flexible structure vibration damping; flexible-link robot arm control; hierarchical fuzzy logic; large-scale system decomposition; reduced-order subsystems; reliability; robustness; singular perturbation approach; slow-subsystem fuzzy controller; trajectory tracking; two-time-scale fuzzy logic controller; Control systems; Engines; Flexible structures; Fuzzy control; Fuzzy logic; Large-scale systems; Robot control; Robust control; Trajectory; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 2002. FUZZ-IEEE'02. Proceedings of the 2002 IEEE International Conference on

Conference_Location

Honolulu, HI

Print_ISBN

0-7803-7280-8

Type

conf

DOI

10.1109/FUZZ.2002.1006664

Filename

1006664