Title :
Position and velocity control of a flexible joint robot manipulator via a fuzzy controller based on singular perturbation analysis
Author :
F, R. Amjadi ; Khadem, S.E. ; Khaloozadeh, H.
Author_Institution :
Dept. of Electr. Eng., Tarbiat Modarres Univ., Tehran, Iran
fDate :
6/23/1905 12:00:00 AM
Abstract :
A nonlinear system with complicated mathematical model is partitioned into two slow and fast subsystems, using singular perturbation theory. A fuzzy controller is designed by specialized learning for the slow subsystem to control the nonlinear system. Simulation results show good performance for the closed-loop system
Keywords :
continuous time systems; control system synthesis; flexible manipulators; fuzzy control; nonlinear control systems; position control; singularly perturbed systems; velocity control; closed-loop system; flexible joint robot manipulator; fuzzy controller; nonlinear system; position control; singular perturbation analysis; specialized learning; velocity control; Control systems; Fuzzy control; Fuzzy systems; Manipulators; Mathematical model; Nonlinear control systems; Nonlinear systems; Perturbation methods; Robots; Velocity control;
Conference_Titel :
Fuzzy Systems, 2001. The 10th IEEE International Conference on
Conference_Location :
Melbourne, Vic.
Print_ISBN :
0-7803-7293-X
DOI :
10.1109/FUZZ.2001.1007320
