Data-based fuzzy adaptive control for a flexible-link manipulator

Author

Zhu, Wenbiao ; Sun, Zengqi

Author_Institution

Nat. Key Lab. of Sci. & Technol. on Aerosp. Intell. Control, Beijing Aerosp. Autom. Control Inst., Beijing, China

fYear

2012

fDate

15-17 July 2012

Firstpage

223

Lastpage

227

Abstract

A flexible-link manipulator is a complex plant with high nonlinearity, and the equations of motion of a flexible-link manipulator have infinite dimensions. Hence, the control problems for a flexible-link manipulator are challenging tasks, seeking a control strategy which is independent of precise plant mathematical model is of practical meanings. In this paper a novel data-based fuzzy adaptive control strategy for a flexible-link manipulator is presented, and procedures for designing a fuzzy adaptive controller are described based on the collected experiment data. Good result is observed in the fuzzy adaptive control experiment of a flexible-link manipulator, the vibration suppression and precision positioning performance is achieved.

Keywords

adaptive control; control nonlinearities; flexible manipulators; fuzzy control; motion control; position control; vibrations; complex plant; data-based fuzzy adaptive control; flexible-link manipulator; high nonlinearity; infinite dimensions; motion equations; precise plant mathematical model; precision positioning performance; vibration suppression; Adaptation models; Adaptive control; Computational modeling; Fuzzy sets; Inverse problems; Manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Information Processing (ICICIP), 2012 Third International Conference on

Conference_Location

Dalian

Print_ISBN

978-1-4577-2144-1

Type

conf

DOI

10.1109/ICICIP.2012.6391459

Filename

6391459