MANIPULATION
Position and velocity control of a flexible joint robot manipulator via a fuzzy controller based on singular perturbation analysis
R. Amjadi F, S.E. Khadem, Hamid Khaloozadeh
- Year
- 2002
- Citations
- 6
Abstract
A nonlinear system with complicated mathematical model is partitioned into two slow and fast subsystems, using singular perturbation theory. A fuzzy controller is designed by specialized learning for the slow subsystem to control the nonlinear system. Simulation results show good performance for the closed-loop system.
Keywords
Singular perturbationControl theory (sociology)Nonlinear systemFuzzy logicRobotFuzzy control systemController (irrigation)Computer sciencePosition (finance)Perturbation (astronomy)
Related papers
OTHER
📊 26,957 cites
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
PERCEPTION
📊 22,245 cites
Artificial intelligence: a modern approach
1995
OTHER
📊 18,993 cites
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991
SWARM
📊 14,853 cites
A new optimizer using particle swarm theory
R.C. Eberhart, James Kennedy
2002