TS-model-based fuzzy tracking control for a single-link flexible manipulator

被引：0
|
作者：
Mannani, A [1 ]
Talebi, HA [1 ]
机构：
[1] Amirkabir Univ Technol, Dept Elect Engn, Tehran, Iran
来源：
CCA 2003: PROCEEDINGS OF 2003 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2 | 2003年
关键词：
flexible manipulators; tracking; fuzzy control; TS models; LMI; uncertainty;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper tracking control for a single-link flexible manipulator is considered First the Takagi-Sugeno fuzzy model of the system is derived. Then a control algorithm for output tracking is adopted and modified to be more computationally and practically efficient based on the Lyapunov analysis reasoning. Finally, the results are compared with that of a joint PD controller.
引用
收藏
页码：374 / 379
页数：6
相关论文
共 50 条
  • [1] Fuzzy Logic Control of Single-Link Flexible Joint Manipulator
    Akyuz, Ismail H.
    Kizir, Selcuk
    Bingul, Zafer
    2011 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2011,
  • [2] Fuzzy and neuro-fuzzy approaches to control a flexible single-link manipulator
    Subudhi, B
    Morris, AS
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2003, 217 (I5) : 387 - 399
  • [3] Fuzzy Supervisory Control and GPC applied to a Flexible Single-link Manipulator
    Boucetta, Rahma
    Chabir, Alaa
    Ben Mansour, Asma
    201415TH INTERNATIONAL CONFERENCE ON SCIENCES & TECHNIQUES OF AUTOMATIC CONTROL & COMPUTER ENGINEERING (STA'2014), 2014, : 562 - 569
  • [4] Adaptive Control of a Single-Link Flexible Manipulator
    Feliu, Vincente
    Rattan, Kuldip S.
    Brown, H. Benjamin, Jr.
    IEEE CONTROL SYSTEMS MAGAZINE, 1990, 10 (02): : 29 - 33
  • [5] GPE control for a single-link flexible manipulator
    Becedas, J.
    Feliu, V.
    Sira-Ramirez, H.
    WCECS 2007: WORLD CONGRESS ON ENGINEERING AND COMPUTER SCIENCE, 2007, : 891 - 896
  • [6] MODELING AND OPTIMAL TRACKING OF A SINGLE-LINK FLEXIBLE MANIPULATOR
    LIU, LH
    HAC, A
    OPTIMAL CONTROL APPLICATIONS & METHODS, 1995, 16 (02): : 105 - 126
  • [7] Resonant Control of a Single-Link Flexible Manipulator
    Abdullahi, Auwalu M.
    Mohamed, Z.
    Nafea, Marwan M.
    JURNAL TEKNOLOGI, 2014, 67 (05):
  • [8] Fractional control of a single-link flexible manipulator
    Feliu, Vicente
    Vinagre, Bias M.
    Monje, Concepcion A.
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 6, PTS A-C, 2005, : 1563 - 1572
  • [9] Passivity Based Adaptive Control of a Single-Link Flexible Manipulator
    Belherazem, A.
    Chenafa, M.
    AUTOMATIC CONTROL AND COMPUTER SCIENCES, 2021, 55 (01) : 1 - 14
  • [10] QFT based robust control of a single-link flexible manipulator
    Kerr, Murray L.
    Jayasuriya, Suhada
    Asokanthan, Samuel F.
    JOURNAL OF VIBRATION AND CONTROL, 2007, 13 (01) : 3 - 27
12345