Study on fuzzy PD control of planar two-link flexible manipulator

Author

Guangzheng, Peng ; Xuesong, Wang ; Yang, Xue

Author_Institution

Coll. of Comput. & Control, Beijing Inst. of Technol., China

Volume

3

fYear

2002

fDate

28-31 Oct. 2002

Firstpage

1542

Abstract

In this paper, we emphasized on the research of dynamic nonlinear control of planar two-link flexible manipulators. The flexible manipulator is a nonlinear and strong coupling dynamic system, and the complicated control system of which has a bad control property of real time and stability. According to the control problems above, the fuzzy composed controller with a nonlinear compensatory and a PD controller is proposed by well considered both the dynamic and static control properties of the system. At last, the control method is verified by computer simulation, based on the dynamic model of a planar two-link flexible manipulator. The simulation results show that the control strategy has a good result on the elastic vibration reducing of flexible manipulators.

Keywords

flexible manipulators; fuzzy control; nonlinear control systems; two-term control; PD controller; control system; dynamic nonlinear control; dynamic system; elastic vibration; flexible manipulators; fuzzy control; nonlinear compensatory; real time; stability; Control systems; Couplings; Fuzzy control; Fuzzy systems; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; PD control; Real time systems; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON '02. Proceedings. 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering

Print_ISBN

0-7803-7490-8

Type

conf

DOI

10.1109/TENCON.2002.1182623

Filename

1182623