Implementation of a knowledge-based fuzzy logic controller and a fuzzy-sliding mode controller to control flexible robotic manipulators.

摘要

Five different controllers, consisting of an integral plus state feedback controller (ISFC), linear quadratic regulator with an integral action (LQI), a fuzzy logic controller (FLC), a conventional sliding mode controller (CSMC) and a fuzzy-sliding mode controller (FSMC), have been implemented herein to control the rigid and flexible motions of the robotic manipulator. The performances of these controllers are compared based on achieving zero steady-state error in the rigid body angular displacement of the beam, damping out the unwanted vibrations, rendering the end effector insensitive to the vibrations of the arm, and avoiding excessive control torque requirements. (Abstract shortened by UMI.)