Abstract:
In this study, adaptive control of flexible link model which is non-minimum phase and single-input, multiple-output (SIMO) is presented. The controllers designed aim to c...Show MoreMetadata
Abstract:
In this study, adaptive control of flexible link model which is non-minimum phase and single-input, multiple-output (SIMO) is presented. The controllers designed aim to control the hub position in a way that attenuates the tip deflections with less energy consumption. Methods used to design the under actuated controller are WRBF network and neuro-fuzzy network and are compared to LQR and non-adaptive fuzzy controller. Learning method performed for adaptive schemes is emotional. Simulation results show the effectiveness of the designed controllers and reduction of energy demand in intelligent adaptive controllers.
Date of Conference: 10-11 September 2010
Date Added to IEEE Xplore: 29 November 2010
ISBN Information:
ISSN Information:
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Adaptive Control ,
- Flexible Linker ,
- Flexible Arm ,
- Flexible Robot ,
- Energy Consumption ,
- Control Design ,
- Adaptive Scheme ,
- Fuzzy Control ,
- Multiple-input Single-output ,
- Reduce Energy Demand ,
- Non-minimum Phase ,
- Neural Network ,
- Cost Function ,
- Kinetic Energy ,
- State Space ,
- Energy System ,
- Adaptive Algorithm ,
- Control Network ,
- Multilayer Perceptron ,
- Coefficient Vector ,
- Fuzzy Rules ,
- Fuzzy Logic ,
- Radial Basis Function Network ,
- Membership Function ,
- Fuzzy IF-THEN Rules ,
- State-space Model ,
- IF-THEN Rules
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Adaptive Control ,
- Flexible Linker ,
- Flexible Arm ,
- Flexible Robot ,
- Energy Consumption ,
- Control Design ,
- Adaptive Scheme ,
- Fuzzy Control ,
- Multiple-input Single-output ,
- Reduce Energy Demand ,
- Non-minimum Phase ,
- Neural Network ,
- Cost Function ,
- Kinetic Energy ,
- State Space ,
- Energy System ,
- Adaptive Algorithm ,
- Control Network ,
- Multilayer Perceptron ,
- Coefficient Vector ,
- Fuzzy Rules ,
- Fuzzy Logic ,
- Radial Basis Function Network ,
- Membership Function ,
- Fuzzy IF-THEN Rules ,
- State-space Model ,
- IF-THEN Rules
