Comparison of Distributed PD-like and Importance-based Fuzzy Logic Controllers for a Two-link Rigid-flexible Manipulator

Document Type

Article

Publication Date

5-2005

Publication Title

Journal of Vibration and Control

Volume

11

Issue

6

First page number:

723

Last page number:

747

Abstract

Fuzzy logic control presents a computationally efficient and robust alternative to conventional controllers. While experts can easily design fuzzy logic controllers (FLCs) for many applications, some systems such as multilink flexible manipulators, which have many variables and complex behavior, offer challenges to fuzzy logic control. In this paper we present two distributed controllers for a two-link rigid-flexible manipulator that moves in a vertical plane where the gravity field is active. The first distributed controller, which is based on observing the performance of the manipulator, uses three PD-like FLCs: the first two FLCs control joint angles and joint angular velocities while the third controls the tip vibration. The second distributed controller is based on evaluating the importance degrees of the output variables of the system. Variables with the same rank of high importance degrees are grouped together, while variables with low importance degrees may be deleted to simplify the design of the controller. The fuzzy rules in the two proposed structures are selected to mimic the performance of comparable linear controllers. The parameters in both FLCs are tuned using nonlinear programming to obtain better performance. The two distributed FLCs are simulated and compared. The robustness of both tuned distributed FLCs is tested by varying the joint trajectories and angular velocities. The effect of changing the payload on the robustness of the two controllers is also considered.

Keywords

Automatic control; Distributed importance-based fuzzy logic controller; Distributed PD-like fuzzy logic controller; Flexible manipulator; Fuzzy logic; Manipulators (Mechanism)

Disciplines

Acoustics, Dynamics, and Controls | Applied Mathematics | Computer-Aided Engineering and Design | Controls and Control Theory | Control Theory | Electrical and Computer Engineering | Mechanical Engineering | Robotics

Language

English

Permissions

Use Find in Your Library, contact the author, or use interlibrary loan to garner a copy of the article. Publisher copyright policy allows author to archive post-print (author’s final manuscript). When post-print is available or publisher policy changes, the article will be deposited

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