Title :
TS-model-based fuzzy tracking control for a single-link flexible manipulator
Author :
Mannani, A. ; Talebi, H.A.
Author_Institution :
Dept. of Electr. Eng., Amirkabir Univ. of Technol., Tehran, Iran
Abstract :
In this paper the tracking control for a single-link flexible manipulator is considered. First, the Takagi-Sugeno fuzzy model of the system is derived. Then a control algorithm for output tracking is adopted and modified to be more computationally and practically efficient based on the Lyapunov analysis reasoning. Finally, the results are compared with that of a joint PD controller.
Keywords :
Lyapunov methods; PD control; flexible manipulators; fuzzy control; linear matrix inequalities; manipulator dynamics; tracking; Lyapunov methods; PD control; Takagi-Sugeno model; fuzzy control; fuzzy model; output tracking; single link flexible manipulator; tracking; Damping; Fuzzy control; Fuzzy reasoning; Fuzzy systems; Manipulators; Orbital robotics; PD control; Stability; Takagi-Sugeno model; Vibration control;
Conference_Titel :
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN :
0-7803-7729-X
DOI :
10.1109/CCA.2003.1223414
