NDLI: Fuzzy variable structure control for trajectory tracking of two-link flexible manipulators

Content Provider	IEEE Xplore Digital Library
Author	Yu-Hu Cheng Xue-Song Wang Jiang-Qiang Yi
Copyright Year	2003
Description	Author affiliation: Inst. of Autom., Chinese Acad. of Sci., Beijing, China (Yu-Hu Cheng)
Abstract	According to the existing problems of flexible manipulator control, a kind of fuzzy variable structure controller based on the principle of sliding-mode variable structure control is proposed by well considered both the dynamic and static control properties of the system. Fuzzy variable structure is a hybrid controller that uses fuzzy logic to eliminate chattering phenomenon that is inherent to a sliding-mode variable structure control system. Because the designed fuzzy controller in this paper is a single-input and single-output controller, and the corresponding fuzzy control rules are few, so the approach is very simple for real-time implementation. At last, the control method is verified by computer simulations, based on the dynamics model of a two-link flexible manipulator. Simulation results indicate that the control system exhibits perfect control effects on chattering-reducing and trajectory-tracking.
Sponsorship	IEEE Systems Man and Cybernetics Tech. Committee on Cybernetics, Hebei Univ. Northwestern Polytechnical Univ
Starting Page	711
Ending Page	714
File Size	226952
Page Count	4
File Format	PDF
ISBN	0780381319
DOI	10.1109/ICMLC.2003.1259568
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-11-05
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Trajectory Sliding mode control Control systems Manipulator dynamics Fuzzy systems Fuzzy logic Control system synthesis Computer simulation Computational modeling
Content Type	Text
Resource Type	Article

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