Fuzzy Inference, Radial Basis Functions, and Control of Flexible Robotic Manipulators

Arciniegas, Jorge I.; Cios, Krzysztof J.; Eltimsahy, A.H.

doi:10.1007/978-1-4471-2063-6_69

Icann ’93 1993

DOI: 10.1007/978-1-4471-2063-6_69

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Fuzzy Inference, Radial Basis Functions, and Control of Flexible Robotic Manipulators

Jorge I. Arciniegas

Krzysztof J. Cios

A.H. Eltimsahy

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2005

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Inverse Dynamics Based Fuzzy Logic Controller for a Single-Link Flexible Manipulator

Renno

2005

Dynamic Systems and Control, Parts a and B

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This paper presents a novel method for an inverse dynamics based fuzzy logic controller (FLC) of a single-link flexible manipulator. The control action is distributed between two FLCs: a joint angle controller and a tip controller. A method for varying the ranges of the variables of the two controllers as a function of the motion parameters and the inverse dynamics of the system is presented. Simulation results show that the joint trajectory tracking is accomplished and the residual vibration of the flexible link is suppressed.

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Inverse Dynamics Based Fuzzy Logic Controller for a Single-Link Flexible Manipulator

Renno

2005

Dynamic Systems and Control, Parts a and B

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show abstract

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Fuzzy Inference, Radial Basis Functions, and Control of Flexible Robotic Manipulators

Cited by 1 publication

References 4 publications

Inverse Dynamics Based Fuzzy Logic Controller for a Single-Link Flexible Manipulator

Inverse Dynamics Based Fuzzy Logic Controller for a Single-Link Flexible Manipulator

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