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A PD-type fuzzy logic control approach for vibration control of a single-link flexible manipulator

This paper presents the design of PD-type fuzzy logic controller (PDFLC) for vibration control of a single-link flexible manipulator system. A flexible manipulator system is a SIMO system with motor torque as the applied input and the hub angle and tip deflection as its two outputs. The system is mo...

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Main Authors: M. Abdullahi, Auwalu, Mohamed, Zaharuddin, Muhammad, Mustapha
Format: Article
Published: 2013
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/40369/
http://www.academia.edu/5378803/A_Pd-Type_Fuzzy_Logic_Control_Approach_For_Vibration_Control_Of_A_Single-Link_Flexible_Manipulator
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spelling my.utm.403692019-03-25T08:18:53Z http://eprints.utm.my/id/eprint/40369/ A PD-type fuzzy logic control approach for vibration control of a single-link flexible manipulator M. Abdullahi, Auwalu Mohamed, Zaharuddin Muhammad, Mustapha TK Electrical engineering. Electronics Nuclear engineering This paper presents the design of PD-type fuzzy logic controller (PDFLC) for vibration control of a single-link flexible manipulator system. A flexible manipulator system is a SIMO system with motor torque as the applied input and the hub angle and tip deflection as its two outputs. The system is modelled using the finite element method. The PDFLC have two inputs, the hub angle error and its derivatives, the output of the controller is fed to the flexible manipulator model as the control signal which successfully suppressed the vibration and achieved a precise tip deflection at the tip end. The tracking performance and robustness due to payload variation were investigated via simulation in Simulink. The Simulation results show that the PDFLC provides a robust control to both internal and external disturbances. 2013-08 Article PeerReviewed M. Abdullahi, Auwalu and Mohamed, Zaharuddin and Muhammad, Mustapha (2013) A PD-type fuzzy logic control approach for vibration control of a single-link flexible manipulator. International Journal of Research in Engineering and Science, 1 (4). pp. 37-47. ISSN 2320-9364 http://www.academia.edu/5378803/A_Pd-Type_Fuzzy_Logic_Control_Approach_For_Vibration_Control_Of_A_Single-Link_Flexible_Manipulator
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
M. Abdullahi, Auwalu
Mohamed, Zaharuddin
Muhammad, Mustapha
A PD-type fuzzy logic control approach for vibration control of a single-link flexible manipulator
description This paper presents the design of PD-type fuzzy logic controller (PDFLC) for vibration control of a single-link flexible manipulator system. A flexible manipulator system is a SIMO system with motor torque as the applied input and the hub angle and tip deflection as its two outputs. The system is modelled using the finite element method. The PDFLC have two inputs, the hub angle error and its derivatives, the output of the controller is fed to the flexible manipulator model as the control signal which successfully suppressed the vibration and achieved a precise tip deflection at the tip end. The tracking performance and robustness due to payload variation were investigated via simulation in Simulink. The Simulation results show that the PDFLC provides a robust control to both internal and external disturbances.
format Article
author M. Abdullahi, Auwalu
Mohamed, Zaharuddin
Muhammad, Mustapha
author_facet M. Abdullahi, Auwalu
Mohamed, Zaharuddin
Muhammad, Mustapha
author_sort M. Abdullahi, Auwalu
title A PD-type fuzzy logic control approach for vibration control of a single-link flexible manipulator
title_short A PD-type fuzzy logic control approach for vibration control of a single-link flexible manipulator
title_full A PD-type fuzzy logic control approach for vibration control of a single-link flexible manipulator
title_fullStr A PD-type fuzzy logic control approach for vibration control of a single-link flexible manipulator
title_full_unstemmed A PD-type fuzzy logic control approach for vibration control of a single-link flexible manipulator
title_sort pd-type fuzzy logic control approach for vibration control of a single-link flexible manipulator
publishDate 2013
url http://eprints.utm.my/id/eprint/40369/
http://www.academia.edu/5378803/A_Pd-Type_Fuzzy_Logic_Control_Approach_For_Vibration_Control_Of_A_Single-Link_Flexible_Manipulator
_version_ 1643650456713428992
score 13.244368

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