Title :
A fuzzy supervisor for flexible manipulator control
Author :
Garcia-Benitez, Erick ; Yurkovich, Stephen ; Passino, Kevin M.
Author_Institution :
Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
Abstract :
A two-level hierarchical control strategy to achieve accurate end-point position of a planar two-link flexible manipulator is proposed. The upper level consists of a feedforward rule-based supervisory controller that incorporates fuzzy logic, whereas the lower level consists of conventional controllers that combine shaft position-endpoint acceleration feedback for disturbance rejection properties and shaping of the (joint) actuator inputs to minimize the energy transferred to the flexible modes during commanded movements. The effectiveness of this hierarchical control strategy is verified by experimental results for various movements of the links, in various configurations
Keywords :
feedback; fuzzy logic; hierarchical systems; knowledge based systems; position control; robots; IKBS; accurate end-point position; disturbance rejection; flexible manipulator control; fuzzy logic; fuzzy supervisor; position control; robots; shaft position-endpoint acceleration feedback; two-level hierarchical control strategy; Acceleration; Actuators; Control systems; Feedback; Frequency; Fuzzy control; Fuzzy logic; Motion control; Shape control; Vibration control;
Conference_Titel :
Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-0106-4
DOI :
10.1109/ISIC.1991.187330
