By Topic

Implementation of artificial intelligent control in single-link flexible robot arm

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Rong-Jong Wai ; Dept. of Electr. Eng., Yuan-Ze Univ., Chung-li, Taiwan ; Rou-Yong Duan ; Wen-Hung Wang ; Li-Wei Liu

This study addresses the design and properties of an intelligent optimal control of a nonlinear flexible robot arm that is driven by a permanent magnet (PM) synchronous servo motor. The dynamic model of a flexible robot arm system with a tip mass is introduced initially. Moreover, an intelligent optimal control system is proposed to control the motor-mechanism coupling system for periodic motion. In the intelligent optimal control system a fuzzy neural network (FNN) controller is used to learn a nonlinear function in the optimal control law, and a robust controller is designed to compensate the approximate error. In addition, a simple adaptive algorithm is proposed to adjust the uncertain bound in the robust controller avoiding the chattering phenomena. The effectiveness of the proposed control scheme is verified by both the numerical simulation and experimental results.

Published in:

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on  (Volume:3 )

Date of Conference:

16-20 July 2003