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Title: Fuzzy and neuro-fuzzy approaches to control a flexible single-link manipulator
Authors: Subudhi, B
Morris, A S
Keywords: Fuzzy logic
Neural network
Flexible link
Tip position
Issue Date: 2003
Publisher: Institution of Mechanical Engineers
Citation: Proceedings of the Institution of Mechanical Engineers, Vol 217, Part I, Journal of Systems and Control Engineering, p 387-399
Abstract: In this paper, new fuzzy and neuro-fuzzy approaches to tip position regulation of a flexiblelink manipulator are presented. Firstly, a non-collocated, proportional-derivative (PD) type, fuzzy logic controller (FLC) is developed. This is shown to perform better than typical model-based controllers (LQR and PD). Following this, an adaptive neuro-fuzzy controller (NFC) is described that has been developed for situations where there is payload variability. The proposed NFC tunes the input and output scale parameters of the fuzzy controller on-line. The efficacy of the NFC has been evaluated by comparing it with a fuzzy model reference adaptive controller (FMRC).
Description: Copyright for the article belongs to the Institution of Mechanical Engineers.
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