Title :
Fuzzy lyapunov synthesis-based controller for a flexible manipulator: experimental results
Author :
Mannani, A. ; Talebi, H.A.
Author_Institution :
Dept. of Electr. Eng., Amirkabir Univ. of Technol., Tehran
Abstract :
The problem of tracking control of a flexible-link manipulator is considered. The controller is based on the fuzzy Lyapunov synthesis (FLS) and assumes no a priori knowledge about the system dynamics, except for some structural properties of the model. Some important issues regarding the application of the FLS to nonminimum-phase systems are discussed. An experimental study shows the effectiveness of the FLS compared with a joint PD controller
Keywords :
Lyapunov methods; control system synthesis; flexible manipulators; fuzzy control; manipulator dynamics; tracking; flexible-link manipulator; fuzzy Lyapunov synthesis-based controller; nonminimum-phase system; tracking control; Control system synthesis; Energy consumption; Fuzzy control; Fuzzy systems; Manipulator dynamics; Nonlinear control systems; PD control; Sliding mode control; Stability analysis; Vibration control;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507193
