Fuzzy based adaptive control for flexible-link manipulators actuated by piezoceramics

Issam Zeinoun, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an adaptive control scheme based on a fuzzy logic algorithm and its application to end-effector positioning of flexible-link manipulators. Here, a fuzzy based adaptive controller is considered due to its simplicity and the fact that it does not require expressing the controller in terms of the system parameters, as is necessary in the case of self-tuning regulators. This controller is based on a functional fuzzy model where the consequents are crisp functions of the system states and/or inputs; these functions represent controllers designed for different operating regimes. The premise is constituted by the fuzzy subsets corresponding to the process parameters estimated in real time. The effectiveness of this new scheme is verified on a clamped-free beam and a single-link flexible arm instrumented with piezoceramic sensors and actuators. It will be shown that robust performance may be achieved in face of large parameter variations.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages643-648
Number of pages6
Editionpt 1
ISBN (Print)0818653329
StatePublished - 1994
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: May 8 1994May 13 1994

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 1
ISSN (Print)1050-4729

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA
Period5/8/945/13/94

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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