Trajectory and vibration control of a flexible joint manipulator using interval type-2 fuzzy logic

Kelekçi, Ethem; Kizir, Selçuk

doi:10.1016/j.isatra.2019.04.001

Cited by 27 publications

(18 citation statements)

References 17 publications

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“…Most of the research reported on this matter focuses on the effectiveness and practicability of new fuzzy concept as interval type-2 control methodology over vibration control [32][33][34][35][36][37]. Type-2 fuzzy logic due to containing an inferior membership function and a superior membership function controls uncertainty and imprecision in a best way [38][39][40][41][42][43], and a type-1 fuzzy set membership function is used to create these two functions.…”

Section: Introductionmentioning

confidence: 99%

“…Fuzzy logic controller is utilized in applications since the inherent uncertainty in the acquiring a satisfactory result is difficult. Therefore, the fuzzy logic controller has become a wellknown technique and some of the reported investigations in literature on the control of non-linear systems consider adaptive or non-adaptive fuzzy control and interval type-2 fuzzy controller [32][33][34][35][36][37][38][39][40][41][42][43]. Nayak et al [32] investigated comparative effective analysis of interval type-2 fuzzy-PID controller with and without derivative filter, type-1 fuzzy-PID controller and conventional PID controller for automatic generation control in a two area interconnected thermal power system.…”

Section: Introductionmentioning

confidence: 99%

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A Novel Design of Interval Type-2 Neuro-Fuzzy Controller for Flexible Structure

Tınkır

Kalyoncu

Sezgen

2021

mech

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The aim of this research is to develop a novel design of interval type-2 neuro-fuzzy (IT2NF) controller for active vibration control of a flexible structure during an earthquake. For this purpose, two adaptive neural network based fuzzy logic controllers are designed and combined to create the novel design of an IT2NF controller to reduce the vibrations of two-storey flexible building model that occur during earthquake disturbance effects. Accordingly, dynamic modeling of a flexible structure is realized and simulated using the MATLAB / SimMechanics. Then, an experimental setup consisting of two-storey flexible structure, active mass damper (AMD) and shaker is established. Additionally, IT2NF controller is implemented in simulation and experimental models, and the effectiveness and performance of the IT2NF controller are tested under the scaled Northridge Earthquake acceleration. The obtained simulations and experimental responses are evaluated in terms of cart displacements, deflections, and accelerations of the flexible floors showing a good agreement between the simulations and the experimental results. The results show that the designed novel IT2NF controller reduced the total deflections of first and second floor by 72.3% and 68.7%, respectively, when compared with the uncontrolled system. Additionally, it is also found that the designed IT2NF controller is able to reduce the accelerations of the first and second floor by 64.8% and 54.6%, respectively. The proposed and designed control method reported in this study can be employed as an active vibration controller for multi-degree of freedom of flexible systems under the disturbances such as earthquake excitations.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Novel Design of Interval Type-2 Neuro-Fuzzy Controller for Flexible Structure

Tınkır

Kalyoncu

Sezgen

2021

mech

View full text Add to dashboard Cite

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“…Furthermore, an active vibration control algorithm with noncontact vibration measurement using a structural light sensor is proposed based on the recurrent neural network by Qiu and Zhang (2019). Development of an interval type-2 fuzzy logic controller for real-time trajectory and vibration control of a flexible joint manipulator is also presented by Kelekci and Kizir (2019).…”

Section: Introductionmentioning

confidence: 99%

Vibration reduction of a flexible robot link using a frictional damper

Biglari

Golmohammadi

Hayati

et al. 2020

Journal of Vibration and Control

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One of the most important factors reducing flexible manipulator efficiency is the residual vibration occurrence. In this research, vibration reduction of flexible manipulators is investigated using an internal frictional damper. At first, the vibration equation of a manipulator is obtained using the finite element method with the Euler–Bernoulli beam element to study its vibrations in a reciprocal motion. In addition, an analytical model is developed to investigate the effect of the frictional damper on robot link vibrations. Using particle swam optimization, ICA, NSGA-II, and GWO methods, the optimal structure for the damper is obtained to maximize its effect. The optimally damped link is fabricated, and its dynamic characteristics are extracted from a modal test experiment. The modal test results show a considerable improvement in the damping ratio of the damped link in comparison with a simple link. The fabricated link samples are then tested in a realistic situation. The experimental results are in coincidence with the simulation results, certifying the performance of the proposed plan in vibration reduction of a robot link.

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“…Spong [5] first proposed a simplified spring damping model for flexible joints and introduced the theory of integral manifold and singular perturbation to decompose the flexible‐joint robotic system into fast and slow subsystems. In recent years, although such a method has been extensively studied for flexible‐joint robot manipulators, most of them are based on the assumption that the joint actuators of the robot can output arbitrary large torque as the control law needs [6–8]. Obviously, this assumption neglects the torque saturation problem of the joint actuators and is too demanding for practical engineering applications.…”

Section: Introductionmentioning

confidence: 99%