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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Wenbiao Zhu Zengqi Sun |
| Copyright Year | 2011 |
| Description | Author affiliation: Beijing Aerospace Automatic Control Institute; National Key Laboratory of Science and Technology on Aerospace Intelligent Control, Beijing 100854, P.R. China (Wenbiao Zhu) || Department of Computer Science and Technology, Tsinghua University; Beijing 100084, P.R. China (Zengqi Sun) |
| Abstract | A flexible-link manipulator can lighten the weight, reduce the energy consumption and increase the flexibility, so the research on a flexible-link manipulator is valuable for the aerospace applications. In the meantime the flexible structure has an adverse effect on the stability and position precision of a payload, so the effective control for a flexible-link manipulator is one of the important research problems. A flexible-link manipulator is a distribution parameter nonlinear plant of infinite dimensions, its mathematical model is difficultly obtained, so seeking a control strategy which is independent of precise mathematical model is of practical meanings. In this paper a novel data-based direct fuzzy control strategy for a flexible-link manipulator is presented, and a method of calculation of fuzzy rules for the fuzzy controller is described according to the experiment data and linguistic information. It is demonstrated by the fuzzy control experiment of a flexible-link manipulator that the vibration suppression and precision positioning performance is achieved. The effectiveness of the presented methods is also demonstrated by the experiment result. |
| Starting Page | 87 |
| Ending Page | 91 |
| File Size | 173147 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781457708138 |
| e-ISBN | 9781457708169 |
| DOI | 10.1109/ICICIP.2011.6008205 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2011-07-25 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Vibrations Fuzzy control Fuzzy sets Manipulator dynamics Pragmatics |
| Content Type | Text |
| Resource Type | Article |
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