Please use this identifier to cite or link to this item:
Full metadata record
DC FieldValueLanguage
dc.contributor.authorSubudhi, B-
dc.contributor.authorMorris, A S-
dc.identifier.citationProceedings of the Institution of Mechanical Engineers, Vol 217, Part I, Journal of Systems and Control Engineering, p 387-399en
dc.descriptionCopyright for the article belongs to the Institution of Mechanical Engineers.en
dc.description.abstractIn 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).en
dc.format.extent2133270 bytes-
dc.publisherInstitution of Mechanical Engineersen
dc.subjectFuzzy logicen
dc.subjectNeural networken
dc.subjectFlexible linken
dc.subjectTip positionen
dc.titleFuzzy and neuro-fuzzy approaches to control a flexible single-link manipulatoren
Appears in Collections:Journal Articles

Files in This Item:
File Description SizeFormat 
imecneurofuzzybdsasm.pdf2.08 MBAdobe PDFView/Open

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.