Modelling of neurofuzzy control of a flexible link

Abstract A modelling approach for neuro-fuzzy control of a single-link flexible robot manipulator that uses a computer-aided design (CAD) program is proposed. Initially, a CAD model of the flexible link is created using experimentally determined values of system parameters. This CAD model is then ex...

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Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering Journal of systems and control engineering, 2010-08, Vol.224 (5), p.529-543
Main Authors: Tinkir, M, Önen, Ü, Kalyoncu, M
Format: Article
Language:English
Subjects:
Adaptive control
Artificial neural networks
CAD
Computer aided design
Computer simulation
Controllers
Design engineering
Fuzzy control
Fuzzy logic
International trade
Links
Mathematical models
Matlab
Mechanical engineering
Modelling
Robots
Vibration
Vibration control
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Summary:Abstract A modelling approach for neuro-fuzzy control of a single-link flexible robot manipulator that uses a computer-aided design (CAD) program is proposed. Initially, a CAD model of the flexible link is created using experimentally determined values of system parameters. This CAD model is then exported to MATLAB software and the Simulink/SimMechanics toolbox. An adaptive-network-based fuzzy logic controller is used for position and vibration control of the flexible link. Experimental and simulation results are presented that validate the proposed approach.
ISSN:0959-6518
2041-3041
DOI:10.1243/09596518JSCE785