Vibration control of flexible joint manipulator using input shaping with PD-type Fuzzy Logic Control

Ahmad, Mohd Ashraf; Ismail, Raja Mohd Taufika Raja; Ramli, Muhammad; Zawawi, Mohd Anwar; Hambali, Najidah; Ghani, Nor Maniha Abdul

doi:10.1109/isie.2009.5215717

Cited by 16 publications

(7 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…42 A PD-type FLC based on input shaper scheme was developed for controlling the tip angular position of a single-LFJM. 43 After that, a composite of PD-type FLC integrated with non-collocated FLC was proposed for a capable input tracking and vibration reduction of a single-LFJM. The composite of the PD-type FLC integrated with the non-collocated FLC has better ability to effectively reduce the vibration than the PD-type FLC, but it has longer settling time and larger overshoot for the system transient response.…”

Section: Fuzzy Logic Controllermentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

View full text Add to dashboard Cite

SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

show abstract

Section: Fuzzy Logic Controllermentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

View full text Add to dashboard Cite

show abstract

“…Figure 1 illustrates the block scheme implementation of the direct fuzzy adaptive system, where each component is described in the following subsections. Unlike existing fuzzy-logic control methodologies for flexible-joint manipulators [7][8][9][10], the proposed strategy does not output the defuzzified control input signals, but rather outputs timevarying control parameters which are used to update the control gains in response to the trajectory tracking errors, thus resulting in a direct adaptive control scheme.…”

Section: Fuzzy Adaptive Control Developmentmentioning

confidence: 99%

“…Goulet et al [7] applied a complex multilayer approach with a conventional control bottom layer, with a preprocess layer and an intelligent fuzzy logic top layer, to a two-link flexible-joint manipulator, composed of revolute and prismatic joints. Ahmad et al [8] used a fuzzy logic control system with triangular membership functions, to vary the input voltage of the robot's actuator, in response to the end-effector position errors and change-of-errors for a linearized state-space model of a single-link flexible-joint manipulator. The performance of this fuzzy control scheme, combined with an input shaping technique, was evaluated in numerical simulations in a set-point control scenario.…”

Section: Introductionmentioning

confidence: 99%

Direct Fuzzy Adaptive Control of a Manipulator with Elastic Joints

Ulrich

Sąsiadek

2013

Journal of Guidance, Control, and Dynamics

View full text Add to dashboard Cite

show abstract

“…A Hybrid fuzzy logic control with genetic optimisation for vibration control of a single-link flexible manipulator is presented in passing [11]. An input shaping with PD-type fuzzy logic control for vibration and trajectory tracking of flexible arm robot is presented in explicitly in [12]. In passing [13], a controller is developed using fuzzy Lyapunov synthesis (FLS) to control vibration of a flexible manipulator.Inpassing [14] an experimental study using fuzzy logic and neural networks tools is presented for active vibration control of a single link flexible manipulator system.…”

Section: Introductionmentioning

confidence: 99%

Vibration and tip deflection control of a Single-link flexible manipulator

Abdullahi¹,

Mohamed²,

Muhammad³

et al. 2013

IJICS

View full text Add to dashboard Cite

In this paper, a hybrid control scheme for vibration and tip deflection control of a single link flexible manipulator system is presented. The purpose of this control is for input tracking, vibration control of hub angle and tip deflection control. The control scheme consists of a resonant controller and a fuzzy logic controller (FLC).The resonant controller is used as the inner loop feedback controller for vibration control using the resonant frequencies at different resonant modes of the system which were determined from experiment. The fuzzy logic controller is designed as the outer loop feedback controller for the tracking control and to achieve zero steady state error. The performance of the proposed control scheme is investigated via simulations and the results show the effectiveness of the control scheme, in addition thecontroller is tested to show it robustness using different values of payload.

show abstract

Vibration control of flexible joint manipulator using input shaping with PD-type Fuzzy Logic Control

Cited by 16 publications

References 11 publications

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Direct Fuzzy Adaptive Control of a Manipulator with Elastic Joints

Vibration and tip deflection control of a Single-link flexible manipulator

Contact Info

Product

Resources

About