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

[+] Author Affiliations
Jamil M. Renno

University of Nevada at Las Vegas

Paper No. IMECE2005-79028, pp. 841-848; 8 pages
doi:10.1115/IMECE2005-79028
From:
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME

abstract

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.

Copyright © 2005 by ASME

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