Perturbation techniques for flexible manipulators
Perturbation techniques for flexible manipulators
Transfer functions for a single flexible link
International Journal of Robotics Research
Design and analysis of a fuzzy proportional-integral-derivative controller
Fuzzy Sets and Systems
Design and implementation of fuzzy P$^2$ID controller for handlebar control of a bicycle robot
Integrated Computer-Aided Engineering
A spatio-temporal fuzzy logic system for process control
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Performance analysis of fractional order fuzzy PID controllers applied to a robotic manipulator
Expert Systems with Applications: An International Journal
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In this paper, the Timoshenko theory is applied to investigate a new mathematical model for the ''shoulder-elbow-like'' single flexible-link robot arm with dampings. Detailed analysis and derivation are given to support the mathematical modeling of this particular flexible mechanism. A new design of a fuzzy-logic-based (PI + D)^2 control scheme is developed for both vibration suppression and set-point tracking. Computer simulation results for the modeling are performed to observe the significant vibration modes, and simulation results for the control scheme demonstrate that the controllers perform very well for the tracking based on this flexible-link model. A newly developed method for stability analysis using the ''two-straight-lines'' criterion is also presented.