An Analytical Study of Fuzzy Control of a Flexible Rod Mechanism

Beale, David G.; Lee, S.W.; Boghiu, D.

doi:10.1006/jsvi.1997.1266

Cited by 8 publications

(7 citation statements)

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“…The above equation is known as the double Integrator system as it represents uncoupled double integrators and w is computed from the following equation (20) where q is the desired angular acceleration, K and K are diagonal matrices with diagonal elements consisting of derivative and proportional gains 2Λ…”

Section: Controller Designmentioning

confidence: 99%

“…[19] proposed a fuzzy controller combined with sliding mode using a PM (permanent magnet) synchronous servo motor drive. An analytical study of fuzzy control of a flexible rod mechanism was investigated by [20]. An effort is made to investigate and control the chaotic response of a slider-crank mechanism using a fuzzy logic controller [21].…”

Section: Introductionmentioning

confidence: 99%

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Design of a genetic-fuzzy inverse controller for a slider crank mechanism

Farzadpour

Faraji

2013

2013 3rd Joint Conference of AI &Amp; Robotics and 5th RoboCup Iran Open International Symposium

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Many research efforts have been made to develop the slider-crank mechanism. Design of a Genetic-Fuzzy Inverse Controller for a Slider Crank Mechanism with the piston cylinder drive is studied. This mechanism converts the translating motion into rotating motion. In this approach, the computed torque is implemented to obtain high speed and precise position tracking also; compensation of unknown uncertainties and disturbances is achieved using Mamdani-type fuzzy controller.The fuzzy controller parameters are optimized using a genetic algorithm. Computer simulations are carried out, and the results are presented to illustrate high tracking capability and effectiveness of the proposed control approach.

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Section: Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design of a genetic-fuzzy inverse controller for a slider crank mechanism

Farzadpour

Faraji

2013

2013 3rd Joint Conference of AI &Amp; Robotics and 5th RoboCup Iran Open International Symposium

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“…A dynamic finite element modeling of a translating and rotating flexible link was considered in [21]. The kinematic and dynamic simulation, impulsive/contact dynamics and stability of flexible mechanical systems have been presented and discussed in [22] to [24]. The dynamic analysis of some planar mechanisms with slider joints and clearance was considered in [25] and [26] and with lumped masses and impact in [27] and [28].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops

Dupac

Noroozi

2014

SV-JME

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Single link robotic manipulators are extensively used in industry and research operations. The main design requirement of such manipulators is to minimize link dynamic deflection and its active end vibrations, and obtain high position accuracy during its high-speed motion. To achieve these requirements, accurate mathematical modeling and simulation of the initial design, to increase system stability and precision and to obtain very small amplitudes of vibration, should be considered. In this paper the modeling of such a robotic arm with a rigid guide and a flexible extensible link subject to quick stops after each complete revolution is considered and its dynamical behavior analyzed. The extensible link that rotates with constant angular velocity has one end constrained to a predefined trajectory. The constrained trajectory allows trajectory control and obstacle avoidance for the active end of the robotic arm. The dynamic evolution of the system is investigated and the flexural response of the flexible link analyzed under the combined effect of clearance and flexibility.

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“…There are a myriad of papers that combine the best of both neural networks and fuzzy logic to control various systems [27][28][29][30]. Recent studies have shown structural vibration can be damped by the use of fuzzy logic and other intelligent control techniques [11,19,21,[24][25][26][27][28]. In many of these cases only single mode or general global vibration damping (from a single input type) was considered.…”

Section: Introductionmentioning

confidence: 99%

“…The novelty of this study was to control the vibration of a multi-mode cantilever beam system by employing intelligent control techniques. To improve upon the work of existing studies, a mode shape identifier algorithm was developed and experimentally implemented to determine, in real time, what modes were active in a vibratory system [27]. The identifier then chose the set of optimally tuned scaling gains for…”

Section: Introductionmentioning

confidence: 99%

Neural Network Discrimination in Intelligent Vibration Control

Song

Washington

2000

Journal of Intelligent Material Systems and Structures

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The overall goal of this study lies in the multi-mode structural vibration control for systems, based on spatial information. In order to accomplish this task, a neural network was designed to identify the shape of the dominant vibration mode by using properly located piezoelectric sensors. The network then chose a set of scaling gains for a fuzzy logic controller that had been optimally tuned for that particular mode's shape. Next, a fuzzy logic controller was employed to control the vibratory system. The novel technique was experimentally verified on an aluminum cantilever beam system that was augmented with two lead zirconate titanate (PZT) actuators and two PZT sensors. The optimized control strategy was then compared to traditional fuzzy logic control. Finally the mass of the plant was increased by over a factor of 1.5 and the same controller was used to adequately stop vibration.

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An Analytical Study of Fuzzy Control of a Flexible Rod Mechanism

Cited by 8 publications

References 0 publications

Design of a genetic-fuzzy inverse controller for a slider crank mechanism

Design of a genetic-fuzzy inverse controller for a slider crank mechanism

Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops

Neural Network Discrimination in Intelligent Vibration Control

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