Award Date

1-1-2003

Degree Type

Dissertation

Degree Name

Doctor of Philosophy (PhD)

Department

Mechanical Engineering

First Committee Member

Mohamed Trabia

Number of Pages

133

Abstract

This research studies the design and tuning of the distributed importance-based fuzzy logic controllers (FLCs) for two dynamic systems: a single-link flexible manipulator and a two-link rigid-flexible manipulator. The importance analysis algorithm is introduced in the structure design of a FLC. The fuzzy rules for the former system are written based on observing the system behaviors. The fuzzy rules for the latter are selected to mimic the performance of the comparable linear controllers. A Modified Nelder and Mead Simplex Algorithm is used to tune the parameters of the membership functions in the distributed importance-based FLC. The tuned distributed importance-based FLC for the single-link flexible manipulator is compared with a linear quadratic regulator and the tuned distributed PD-like FLC. Similarly, the tuned distributed importance-based FLC for the two-link rigid-flexible manipulator is compared with the tuned importance-based linear controller and the tuned distributed PD-like FLC. The robustness of each tuned controller is tested under different conditions.

Keywords

Based; Controllers; Distributed; Flexible; Flexible-link Manipulators; Fuzzy; Fuzzy Logic Controllers; Importance-based; Link; Logic; Manipulators

Controlled Subject

Mechanical engineering

File Format

pdf

File Size

4556.8 KB

Degree Grantor

University of Nevada, Las Vegas

Language

English

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