Fuzzy and neuro-fuzzy approaches to control a flexible single-link manipulator

Abstract

In this paper, new fuzzy and neuro-fuzzy approaches to tip position regulation of a flexible-link manipulator are presented. Firstly, a non-collocated, proportional-dervative (PD) type, fuzzy logic controller (FLC) is developed. This is shown to perform better than typical model-based controllers (LQR and PD). Following this, an adaptive neuro-fuzzy controller (NFC) is described that has been developed for situations where there is payload variability. The proposed NFC tunes the input and output scale parameters of the fuzzy controller on-line. The efficacy of the NFC has been evaluated by comparing it with a fuzzy model reference adptive controller (FMRC).

Keywords

fuzzy logic neural network flexible link manipulator tip position

Get full access to this article

View all access options for this article.

References

Aoustin

Chevallereau

Glumineeau

Moog

C. H.

Experimental results for the end-effector control of a single flexible robot arm. IEEE Trans. Control Systems Technol., 1994, 2 (4), 371–381.

Mamdani

E. H.

Assilian

An experiment in linguistic network with a fuzzy logic controller. Int. J. Man-Machine Studies, 1975, 7 (1), 1–13.

Sayyarrodsari

Homaifar

The role of hierarchy in the design of fuzzy logic controllers. IEEE Trans Systems, Man, and Cybernetics, Part B: Cybernetics, 1997, 27 (1), 108–118.

Suh

I. H.

Eom

K. S.

Yeo

H. J.

S. R.

Fuzzy adaptive control of industrial robot manipulators with position servos. Mechatronics, 1995, 5 (8), 899–918.

Soo

Y. Y.

Chung

J. M.

A robust fuzzy logic controller for manipulators with uncertainties. IEEE Trans. Systems, Man, and Cybernetics, Part B: Cybernetics, 1997, 27 (4), 707–713.

Lin

Y. J.

Lee

T. S.

An investigation of fuzzy logic control of flexible robots

Robotica, 1993, 11 (3), 363–371.

Liu

Lewis

F. L.

Hybrid feedback linearization/fuzzy logic control of a flexible link manipulator. J. Intell. Fuzzy Systems, 1994, 2, 325–336.

Moudgal

V. G.

Passino

K. M.

Yurkovitch

Rulebased control for flexible link robot. IEEE Trans. Control Systems Technol., 1994, 12, 393–405.

Mudi

R. K.

Pal

N. R.

A robust self-tuning scheme for PI and PD type fuzzy controllers. IEEE Trans. Fuzzy Systems, 1999, 7 (1), 3–16.

10.

Karr

C. L.

Gentry

E. J.

Fuzzy control of PH using genetic algorithms. IEEE Trans. Fuzzy Systems, 1993, 1 (1), 46–53.

11.

Zhou

Y. S.

Lai

L.-Y.

Optimal design for fuzzy controllers by the genetic algorithms. IEEE Trans. Industry Applic., 2000, 36 (1), 93–97.

12.

Kotnik

P. T.

Yurkovitch

özgüner

ü.

Acceleration feedback control of a flexible manipulator. J. Robotic Systems, 1988, 5 (3), 181–196.

13.

Chen

Linkens

D. A.

A hybrid neuro-fuzzy controller. Fuzzy Sets and Systems, 1998, 99, 27–36.

14.

Halgamauge

S. K.

Glesner

Neural networks for designing fuzzy systems for real-world applications. Fuzzy Sets and Systems, 1994, 65, 1–2.

15.

Jang

J.-S. R.

ANFIS: Adaptive network based fuzzy inference systems. IEEE Trans. Systems, Man, and Cybernetics, 1993, 23 (3), 665–685.

16.

Lin

F. J.

Jong

W. R.

Wang

S. L.

A fuzzy neural network controller for parallel-resonant ultrasonic motor drive. IEEE Trans. Ind. Electronics, 1998, 45 (6), 929–937.

17.

Nauck

Klawonn

Kruse

Foundations of Neuro-Fuzzy Systems, 1996 (John Wiley, Chichester).

18.

Lin

F.-J.

Wai

R.-J.

A hybrid computed torque controller using fuzzy neural network for motor-quick-return servo mechanism. IEEE Trans. Mechatronics, 2001, 6 (1), 85–89.

19.

Omatu

Khalid

Yusof

Neuro-Control and Its Applications, 1996 (Springer, London).

20.

Morris

A. S.

Madani

Static and dynamic modelling of a two-flexible-link manipulator. Robotica, 1996, 14, 289–300.