Two-time scale fuzzy logic controller of flexible link robot arm

Fuzzy Sets and Systems

Volumn 139, Issue 1, 2003, Pages 125-149

  Lin, J ^a   Lewis, F L ^b  

^a CHING YUN UNIVERSITY   (Taiwan)

^b UNIVERSITY OF TEXAS AT ARLINGTON   (United States)

Author keywords

Hierarchical fuzzy logic control; Reduced order; Singular perturbation

Indexed keywords

ELASTICITY; FLEXIBLE STRUCTURES; FUZZY SETS; HIERARCHICAL SYSTEMS; ROBOTICS; ROBUSTNESS (CONTROL SYSTEMS); VIBRATIONS (MECHANICAL);

FINITE-ORDER CONTROLLERS;

FUZZY CONTROL;

EID: 0041361907     PISSN: 01650114     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0165-0114(02)00389-5     Document Type: Article

References (25)

1. D. Bale, S.W. Lee, The applicability of fuzzy logic control for flexible mechanisms, ASME 15th Biennial Conf. on Mechanical Vibration and Noise, Boston, vol. 84, 1995, pp. 203-210.
2. Book W.J. Modeling, design, and control of flexible manipulator arms: a tutorial review, Proc. IEEE Decision and Control. 1:1990;500-506.
3. G.C. Calafiore, A subsystems characterization of the zero modes for flexible mechanical structures, Proc. 36th IEEE Conf. Decision Control, San Diego, CA, 1997, pp. 1375-1380.
4. Colbaugh R., Glass K. Adaptive compliant motion control of manipulators without velocity measurements. J. Robotic Systems. 14(7):1997;513-527.
5. Faravelli L., Yao T. Use of adaptive networks in fuzzy control of civil structures. Microcomput. Civil Eng. 11:1996;67-76.
6. G.G. Hastings, W.J. Book, Reconstruction and robust reduced-order observation of flexible variables, in: ASME Publications Robotics: Theory and Applications, 1987, DSC-vol. 2, pp. 11-16.
7. Jagannathan S., Vandegrift M.W., Lewis F.L. Adaptive fuzzy logic control of discrete-time dynamical systems. Automatica. 36:2000;229-241.
8. Jamshidi M. Large-Scale Systems: Modeling, Control, and Fuzzy Logic. 1996;Prentice-Hall, Englewood Cliffs, NJ.
9. Kokotovic P.V., Khalil H.K., O'Reilly J. Singular Perturbation Methods in Control: Analysis and Design. 1986;Academic Press, New York.
10. E. Kubica, D. Wang, A fuzzy-control strategy for a flexible single link robot, in: American Control Conf. Proceedings, 1993, pp. 236-241.
11. Lewis F.L., Abdallah C.T., Dawson D.M. Control of Robot Manipulators. 1993;MacMillan, New York.
12. Lim K.B. Method for optimal actuator and sensor placement for large flexible structures. J. Guidance, Control Dynamics. 15(1):1992;49-57.
13. J.G. Lin, Three steps to alleviate control and observation spillover problems of large space structures, in: Proc. 19th IEEE Conf. on Decision and Control, Albuquerque, NM, 1980, pp. 438-444.
14. Lin J., Lewis F.L. A symbolic formulation of dynamic equations for a manipulator with rigid and flexible links. Internat. J. Robotics Res. 13(5):1994;454-466.
15. Lin J., Lewis F.L. Enhanced measurement and estimation methodology for flexible link arm control. J. Robotic Systems. 11(5):1994;367-385.
16. K. Liu, F.L. Lewis, Fuzzy-logic control of a flexible link manipulator, Proc. SINS' Internat. Symp. Implicit Nonlinear Systems, 1992, pp. 21-26.
17. Mann G.K., Hu B.-G., Gosine R.G. Analysis of direct action fuzzy PID controller structures. IEEE Trans. Systems Man Cybernet. B. 29(3):1999;371-388.
18. Marghitu D.B., Diaconescu C., Ivanescu M. Fuzzy logic control of parametrically excited rotating beam using inverse model. Dynamics Control. 9:1999;319-338.
19. Siciliano B., Book W.J. A singular perturbation approach to control of lightweight flexible manipulators. Internat. J. Robotics Res. 7(4):1988;79-90.
20. Subramaniam R.S., Reinhorn A.M., Riley M.A., Nagarajaiah S. Hybrid control of structures using fuzzy logic. Microcomput. Civil Eng. 11:1996;1-17.
21. Tachibana E., Inoue Y. Fuzzy theory for the active control of the dynamic response in buildings. Microcomput. Civil Eng. 7:1992;179-189.
22. Vandegrift M., Lewis F.L., Zhu S. Flexible-link robot arm control by a feedback linearization/singular perturbation approach. J. Robotic Systems. 11(7):1994;591-603.
23. Visioli A. Fuzzy logic based set-point weight tuning of PID controllers. IEEE Trans. Systems Man Cybernet. 29(6):1999;587-592.
24. J. Yen, R. Langari, Fuzzy Logic - Intelligence, Control, and Information, Prentice Hall, Englewood Cliffs, NJ, 1998.
25. Ying H. Analytical analysis and feedback linearization tracking control of the general Takagi-Sugeno fuzzy dynamic systems. IEEE Trans. Systems Man Cybernet. 29(1):1999;290-298.