Fuzzy logic control of single-link flexible joint manipulator

2011 ◽  
Author(s):  
Ismail H. Akyuz ◽  
Selcuk Kizir ◽  
Zafer Bingul
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Flexible Joint ◽  
Logic Control ◽  
Single Link ◽  
Flexible Joint Manipulator

scholarly journals Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator

10.5772/52562 ◽  
2013 ◽  
Vol 10 (1) ◽  
pp. 58 ◽  
Author(s):  
Mohd Ashraf Ahmad ◽  
Mohd Zaidi Mohd Tumari ◽  
Ahmad Nor Kasruddin Nasir
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Flexible Joint ◽  
Control Approach ◽  
Logic Control ◽  
Flexible Joint Manipulator

Design and Tuning of Distributed Importance-Based Fuzzy Logic Controller for Two-Link Rigid-Flexible Manipulator

2003 ◽  
Author(s):  
Linda Z. Shi ◽  
Mohamed B. Trabia
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Fuzzy Logic Controller ◽  
Expert Knowledge ◽  
Vertical Plane ◽  
Fuzzy Rules ◽  
Flexible Manipulator ◽  
Linear Controller ◽  
Logic Control ◽  
Single Link

Fuzzy logic control has been widely used in many industrial processes due to its computationally efficient and robust characteristics. In many applications, verbalization of expert-knowledge can be easily used to design a fuzzy logic controller (FLC). On the other hand, other applications with many variables and complex mathematical model offer challenges to fuzzy logic control. Multi-link flexible manipulators belong to this category. An earlier work, [1], presented a distributed importance-based FLC for a single-link flexible manipulator. This paper extends this idea to a two-link rigid-flexible manipulator that moves in a vertical plane where the gravity field is active. The structure of the proposed controller is based on evaluating the importance degrees of the variables of the system, over its range of operation, to consider the coupling effects between the rigid and the flexible links. Variables with higher importance degrees are grouped together while variables with lesser importance degrees may be deleted to simplify the design of the controller. After determining the importance degrees of the variables, a distributed controller composed of four two-input one-output FLC’s is created. Unlike the single-link flexible manipulator, the fuzzy rules of the distributed FLC for the two-link rigid-flexible manipulator cannot be written by an expert based on intuition and observation of the inertial system due to the complexity of the manipulator and the coupling effect of its variables. To solve this problem, an importance-based linear controller that has the same input-output structure as that of distributed importance-based FLC is constructed to help write the fuzzy rules of the distributed FLC. Fuzzy rules of the distributed FLC are then selected to mimic the performance of the corresponding linear controllers. To compare the performance of the distributed importance-based FLC with that of importance-based linear controller, these two controllers are tuned using nonlinear programming by varying the gains of the importance-based linear controller and the parameters of membership functions of the variables in the distributed importance-based FLC. Robustness of each of the controllers after tuning is tested by varying the payload of the manipulator. The two importance-based controllers are simulated and compared.

scholarly journals Adaptive Fuzzy Logic Control of a Single-Link Flexible Arm.

1997 ◽  
Vol 40 (4) ◽  
pp. 702-708 ◽  
Author(s):  
Jiunn-Horng CHEN ◽  
Ming-Shaung JU ◽  
Yeong-Ging TSUEI
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Adaptive Fuzzy ◽  
Logic Control ◽  
Flexible Arm ◽  
Single Link ◽  
Adaptive Fuzzy Logic

Sistem Kontrol Optimal Fuzzy-Particle Swarm Optimization

2018 ◽  
Vol 9 (1) ◽  
pp. 1-5
Author(s):  
Fachrudin Hunaini ◽  
Imam Robandi ◽  
Nyoman Sutantra
Keyword(s):  
Fuzzy Logic ◽  
Particle Swarm Optimization ◽  
Control System ◽  
Membership Function ◽  
Fuzzy Logic Control ◽  
Particle Swarm ◽  
Optimization Method ◽  
Swarm Optimization ◽  
Motion Error ◽  
Logic Control

Fuzzy Logic Control (FLC) is a reliable control system for controlling nonlinear systems, but to obtain optimal fuzzy logic control results, optimal Membership Function parameters are needed. Therefore in this paper Particle Swarm Optimization (PSO) is used as a fast and accurate optimization method to determine Membership Function parameters. The optimal control system simulation is carried out on the automatic steering system of the vehicle model and the results obtained are the vehicle's lateral motion error can be minimized so that the movement of the vehicle can always be maintained on the expected trajectory

Implementation of Fuzzy Logic Control on Battery Charging System

2019 ◽  
Vol 3 (1) ◽  
pp. 118-126 ◽  
Author(s):  
Prihangkasa Yudhiyantoro
Keyword(s):  
Complex System ◽  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Expert Knowledge ◽  
Experimental Result ◽  
Rule Base ◽  
Battery Charging ◽  
Charging System ◽  
Logic Control ◽  
Charging Control

This paper presents the implementation fuzzy logic control on the battery charging system. To control the charging process is a complex system due to the exponential relationship between the charging voltage, charging current and the charging time. The effective of charging process controller is needed to maintain the charging process. Because if the charging process cannot under control, it can reduce the cycle life of the battery and it can damage the battery as well. In order to get charging control effectively, the Fuzzy Logic Control (FLC) for a Valve Regulated Lead-Acid Battery (VRLA) Charger is being embedded in the charging system unit. One of the advantages of using FLC beside the PID controller is the fact that, we don’t need a mathematical model and several parameters of coefficient charge and discharge to software implementation in this complex system. The research is started by the hardware development where the charging method and the combination of the battery charging system itself to prepare, then the study of the fuzzy logic controller in the relation of the charging control, and the determination of the parameter for the charging unit will be carefully investigated. Through the experimental result and from the expert knowledge, that is very helpful for tuning of the  embership function and the rule base of the fuzzy controller.

Sign in / Sign up

Export Citation Format

Share Document