Title :
Nonlinear and fuzzy logic vibration control of flexible manipulators
Author_Institution :
Dept. of Mech. Eng., Univ. of Massachuesetts, North Dartmouth, MA, USA
Abstract :
Using nonlinear and fuzzy logic control techniques, we study vibration control of flexible manipulators. Nonlinear and fuzzy logic control laws are formulated to effectively damp vibrations of a flexible link using collocated piezoelectric actuators and sensors. Simulations show that each of the proposed controllers results in a fast and yet very well damped transient response superior to that achieved by a linear optimal controller
Keywords :
flexible structures; fuzzy control; manipulators; nonlinear control systems; piezoelectric actuators; piezoelectric transducers; transient response; vibration control; damping; fast damped transient response; flexible manipulators; fuzzy logic control; nonlinear control; piezoelectric actuators; piezoelectric sensors; vibration control; Actuators; Damping; Feeds; Frequency; Fuzzy logic; Manipulator dynamics; Open loop systems; Optimal control; Transient response; Vibration control;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.532732
