Title :
Fuzzy (PI+D)2 control for flexible robot arms
Author :
Sooraksa, Pitikhate ; Chen, Guanrongh
Author_Institution :
Dept. of Electr. & Comput. Eng., Houston Univ., TX, USA
Abstract :
This paper continues the investigation of a “shoulder-elbow-like” single flexible robot arm model with damping, previously discussed by the authors (1996), to develop a new design of a fuzzy (PI+D)2 control scheme for both vibration suppression and set-point tracking. Computer simulation results are included to show that the fuzzy-logic-based controllers perform very well for this flexible-link model described by a couple of higher-order partial differential equations with initial-terminal and boundary value conditions. Graphical stability analysis of the controlled system is also given in this paper, which has very good agreement with theoretical analysis results
Keywords :
boundary-value problems; control system synthesis; damping; flexible structures; fuzzy control; manipulators; partial differential equations; stability; three-term control; boundary value conditions; damping; flexible-link model; fuzzy (PI+D)2 control; fuzzy-logic-based controllers; graphical stability analysis; higher-order partial differential equations; initial-terminal conditions; set-point tracking; shoulder-elbow-like single flexible robot arm model; vibration suppression; Computational modeling; Error correction; Fuzzy control; Logic design; Manipulators; Region 1; Region 2; Robot control; Signal design; USA Councils;
Conference_Titel :
Intelligent Control, 1996., Proceedings of the 1996 IEEE International Symposium on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2978-3
DOI :
10.1109/ISIC.1996.556258
