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Author Lin, J.
Sponsorship IEEE ♦ IEEE Neural Networks Soc
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2002
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Special computer methods
Subject Keyword Robot control ♦ Fuzzy logic ♦ Fuzzy control ♦ Control systems ♦ Large-scale systems ♦ Engines ♦ Vibration control ♦ Flexible structures ♦ Trajectory ♦ Robust control
Abstract This paper concentrates on hierarchical fuzzy logic using the singular perturbation approach for flexible-link robot arm control. A two-time-scale fuzzy logic controller is applied to such a system. A large-scale system is decomposed into a finite number of reduced-order subsystems, thereby eliminating the need for a large-sized inference engine. In this paper, a fast-subsystem controller damps out the vibration of the flexible structure by means of two hierarchical fuzzy logic controllers. Another, slow-subsystem fuzzy controller dominates the trajectory tracking. It appears that the fuzzy control method is quite useful as regards reliability and robustness.
Description Author affiliation: Dept. of Mech. Eng., Ching Yun Inst. of Technol., Jung-Li City, Taiwan (Lin, J.)
ISBN 0780372808
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2002-05-12
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 711.46 kB
Page Count 6
Starting Page 1138
Ending Page 1143

Source: IEEE Xplore Digital Library