DocumentCode
1977113
Title
Fuzzy lyapunov synthesis-based controller for a flexible manipulator: experimental results
Author
Mannani, A. ; Talebi, H.A.
Author_Institution
Dept. of Electr. Eng., Amirkabir Univ. of Technol., Tehran
fYear
2005
fDate
28-31 Aug. 2005
Firstpage
606
Lastpage
611
Abstract
The problem of tracking control of a flexible-link manipulator is considered. The controller is based on the fuzzy Lyapunov synthesis (FLS) and assumes no a priori knowledge about the system dynamics, except for some structural properties of the model. Some important issues regarding the application of the FLS to nonminimum-phase systems are discussed. An experimental study shows the effectiveness of the FLS compared with a joint PD controller
Keywords
Lyapunov methods; control system synthesis; flexible manipulators; fuzzy control; manipulator dynamics; tracking; flexible-link manipulator; fuzzy Lyapunov synthesis-based controller; nonminimum-phase system; tracking control; Control system synthesis; Energy consumption; Fuzzy control; Fuzzy systems; Manipulator dynamics; Nonlinear control systems; PD control; Sliding mode control; Stability analysis; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location
Toronto, Ont.
Print_ISBN
0-7803-9354-6
Type
conf
DOI
10.1109/CCA.2005.1507193
Filename
1507193
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