DocumentCode
1918842
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
Volume
1
fYear
2003
fDate
23-25 June 2003
Firstpage
374
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN
0-7803-7729-X
Type
conf
DOI
10.1109/CCA.2003.1223414
Filename
1223414
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