Title :
Fuzzy control of a flexible link manipulator
Author :
Lee, J.X. ; Vukovich, G. ; Sasiadek, J.Z.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Carleton Univ., Ottawa, Ont., Canada
fDate :
29 June-1 July 1994
Abstract :
In this paper a fuzzy control approach has been applied to the control of a very flexible link manipulator, which does not use a mathematical model of the system. A methodology for fuzzy logic controller (FLC) design is proposed and design parameters are discussed, on which a FLC for an experimental flexible link manipulator is based. A controller is developed via simulation for implementation in the experimental test-bed.
Keywords :
control system synthesis; fuzzy control; fuzzy logic; intelligent control; manipulators; design parameters; flexible link manipulator; fuzzy inference engine; fuzzy logic control; fuzzy rule base; Actuators; Aerospace engineering; Degradation; Fuzzy control; Fuzzy logic; Humans; Manipulator dynamics; Mathematical model; Robot control; Testing;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751804
