| Fuzzy Logic Based Adaptive Control of Constrained Flexible-link Robot |
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| 引用本文： | WANG Li Department of Automation,South China University of Technology,Guangzhou Li C.K. Department of Electronic Engineering,Hong Kong Polytechnic University,Hong Kong [FQ.Fuzzy Logic Based Adaptive Control of Constrained Flexible-link Robot[J].系统科学与系统工程学报(英文版),1997(3). |
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| 作者姓名： | WANG Li |
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| 作者单位： | 2。38，ZX，BP-W] Received February 28，1997 |
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| 摘 要： | ＦｕｚｙＬｏｇｉｃＢａｓｅｄＡｄａｐｔｉｖｅＣｏｎｔｒｏｌｏｆＣｏｎｓｔｒａｉｎｅｄＦｌｅｘｉｂｌｅｌｉｎｋＲｏｂｏｔＷＡＮＧＬｉＤｅｐａｒｔｍｅｎｔｏｆＡｕｔｏｍａｔｉｏｎ，ＳｏｕｔｈＣｈｉｎａＵｎｉｖｅｒｓｉｔｙｏｆＴｅｃｈｎｏｌｏｇｙ，Ｇｕａ...
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Fuzzy Logic Based Adaptive Control of Constrained Flexible link Robot |
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| WANG Li.Fuzzy Logic Based Adaptive Control of Constrained Flexible link Robot[J].Journal of Systems Science and Systems Engineering,1997(3). |
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| Authors: | WANG Li |
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| Institution: | WANG Li Department of Automation,South China University of Technology,Guangzhou 510641 Li C.K. Department of Electronic Engineering,Hong Kong Polytechnic University,Hong Kong [FQ |
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| Abstract: | In this paper, a novel adaptive fuzzy control scheme is presented . The controller is constructed by using a table lookup scheme and self tuning techniques, which includes the identification block, the fuzzification, the updating rule base, the defuzzification, and the crisp controller (sub controller), etc. The adaptive fuzzy controller is designed in detail by means of triangular membership function and the center of gravity method. The control scheme addressed here is implemented to control the motion of the end effector of a two link constrained flexible manipulator. Computer simulation results show that the novel adaptive fuzzy control scheme works quite well. |
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| Keywords: | adaptive control fuzzy logic self tuning constrained motion flexible link manipulator |
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