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Control of Flexible Joint Manipulator via Reduced Rule-Based Fuzzy Control with Experimental Validation
Joint Authors
Aliyari Shoorehdeli, Mahdi
Rostami Kandroodi, Mojtaba
Teshnehlab, Mohammad
Mansouri, Mohammad
Source
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-01-03
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
A novel structure of fuzzy logic controller is presented for trajectory tracking and vibration control of a flexible joint manipulator.
The rule base of fuzzy controller is divided into two sections.
Each section includes two variables.
The variables of first section are the error of tip angular position and the error of deflection angle, while the variables of second section are derivatives of mentioned errors.
Using these structures, it would be possible to reduce the number of rules.
Advantages of proposed fuzzy logic are low computational complexity, high interpretability of rules, and convenience in fuzzy controller.
Implementing of the fuzzy logic controller on Quanser flexible joint reveals efficiency of proposed controller.
To show the efficiency of this method, the results are compared with LQR method.
In this paper, experimental validation of proposed method is presented.
American Psychological Association (APA)
Rostami Kandroodi, Mojtaba& Mansouri, Mohammad& Aliyari Shoorehdeli, Mahdi& Teshnehlab, Mohammad. 2012. Control of Flexible Joint Manipulator via Reduced Rule-Based Fuzzy Control with Experimental Validation. ISRN Artificial Intelligence،Vol. 2012, no. 2012, pp.1-8.
https://search.emarefa.net/detail/BIM-462399
Modern Language Association (MLA)
Rostami Kandroodi, Mojtaba…[et al.]. Control of Flexible Joint Manipulator via Reduced Rule-Based Fuzzy Control with Experimental Validation. ISRN Artificial Intelligence No. 2012 (2012), pp.1-8.
https://search.emarefa.net/detail/BIM-462399
American Medical Association (AMA)
Rostami Kandroodi, Mojtaba& Mansouri, Mohammad& Aliyari Shoorehdeli, Mahdi& Teshnehlab, Mohammad. Control of Flexible Joint Manipulator via Reduced Rule-Based Fuzzy Control with Experimental Validation. ISRN Artificial Intelligence. 2012. Vol. 2012, no. 2012, pp.1-8.
https://search.emarefa.net/detail/BIM-462399
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-462399