Title :
A fuzzy logic learning control for vibration suppression of manipulator robot systems
Author :
Pingkang Li ; Xiuxia Du
Abstract :
Fuzzy Logic Learning Control method is proposed to achieve precise tracking control and end-point vibration suppression of a flexible manipulator robot system. The Fuzzy Logic Learning Control is done in a feedback configuration with collocated PD control with the learning law updates the feedforward input from the error of the previous trial. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the hybrid Fuzzy Logic Learning Control scheme is assessed in terms of input tracking and level of vibration reduction in comparison to a conventionally designed collocated PD with input shaping control scheme.
Keywords :
Control systems; Fuzzy logic; Manipulator dynamics; Mathematical model; Motion control; Nonlinear dynamical systems; PD control; Robots; Shape control; Vibration control;
Conference_Titel :
Intelligent Mechatronics and Automation, 2004. Proceedings. 2004 International Conference on
Conference_Location :
Chengdu, China
Print_ISBN :
0-7803-8748-1
DOI :
10.1109/ICIMA.2004.1384214