TY - GEN
T1 - Fuzzy (PI+D)2 control for flexible robot arms
AU - Sooraksa, Pitikhate
AU - Chen, Guanrong
PY - 1996/9
Y1 - 1996/9
N2 - This paper continues the investigation of a 'shoulder-elbow-like' single flexible link robot arm model with damping established by the present authors in [1], to develop a new design of a fuzzy (PI+D)2 control scheme for both vibration suppression and set-point tracking. Computer simulation results are included to show that the fuzzy-logic-based controllers perform very well for this flexible-link model described by a couple of higher-order partial differential equations with initial-terminal and boundary value conditions. Graphical stability analysis of the controlled system is also given in this paper, which has very good agreement with theoretical analysis results. © 1996 IEEE
AB - This paper continues the investigation of a 'shoulder-elbow-like' single flexible link robot arm model with damping established by the present authors in [1], to develop a new design of a fuzzy (PI+D)2 control scheme for both vibration suppression and set-point tracking. Computer simulation results are included to show that the fuzzy-logic-based controllers perform very well for this flexible-link model described by a couple of higher-order partial differential equations with initial-terminal and boundary value conditions. Graphical stability analysis of the controlled system is also given in this paper, which has very good agreement with theoretical analysis results. © 1996 IEEE
UR - https://www.scopus.com/pages/publications/0030357504
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0030357504&origin=recordpage
U2 - 10.1109/ISIC.1996.556258
DO - 10.1109/ISIC.1996.556258
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 0-7803-2978-3
SP - 536
EP - 539
BT - Proceedings of the 1996 IEEE International Symposium on Intelligent Control
PB - IEEE
T2 - 1996 IEEE International Symposium on Intelligent Control
Y2 - 15 September 1996 through 18 September 1996
ER -