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Rule-based supervisory control of a two-link flexible manipulator

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Abstract

In this paper, we propose a two level hierarchical control strategy to achieve accurate end-point position of a planar two-link flexible manipulator. The upper level consists of a feedforward rule-based supervisory controller that incorporates fuzzy logic, whereas the lower level consists of conventional controllers that combine shaft position-endpoint acceleration feedback for disturbance rejection properties and shaping of the (joint) actuator inputs to minimize the energy transferred to the flexible modes during commanded movements. The effectiveness of this hierarchical control strategy is verified by experimental results for various movements of the links, in various configurations. In particular, we illustrate how the hierarchical intelligent control strategy performs better than conventional control techniques for endpoint position control in the presence of flexure effects.

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Authors and Affiliations

  1. Department of Electrical Engineering, The Ohio State University, 2015 Neil Avenue, 43210, Columbus, OH, USA

    Erick García-Benitez, Stephen Yurkovich & Kevin M. Passino

Authors
  1. Erick García-Benitez
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  2. Stephen Yurkovich
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  3. Kevin M. Passino
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Correspondence to Kevin M. Passino.

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García-Benitez, E., Yurkovich, S. & Passino, K.M. Rule-based supervisory control of a two-link flexible manipulator. J Intell Robot Syst 7, 195–213 (1993). https://doi.org/10.1007/BF01257819

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  • DOI: https://doi.org/10.1007/BF01257819

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