{"title":"Rule-Based Fuzzy Control of a Single-Link Flexible Manipulator in the Presence of Joint Friction and Load Changes","authors":"K. Rattan, B. Chiu, V. Feliu, H. B. Brown","doi":"10.1109/ACC.1989.4173670","DOIUrl":null,"url":null,"abstract":"A rule-based fuzzy control method is proposed in this paper for the control of single-link, lightweight, flexible manipulators. The objective of this method is to control the tip position of a flexible manipulator in the presence of joint friction and changes in the payload. Both linear and nonlinear friction are overcome using a robust control scheme. The control scheme is based on two nested feedback loops: an inner loop to control the position of the motor and an outer loop to control the tip position. The tip position is controlled by a rule-based fuzzy controller. This results in a simple control law that needs minimal computing effort and can be used for real-time control of flexible arms.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"25 1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"1989 American Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACC.1989.4173670","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 10
Abstract
A rule-based fuzzy control method is proposed in this paper for the control of single-link, lightweight, flexible manipulators. The objective of this method is to control the tip position of a flexible manipulator in the presence of joint friction and changes in the payload. Both linear and nonlinear friction are overcome using a robust control scheme. The control scheme is based on two nested feedback loops: an inner loop to control the position of the motor and an outer loop to control the tip position. The tip position is controlled by a rule-based fuzzy controller. This results in a simple control law that needs minimal computing effort and can be used for real-time control of flexible arms.
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