Position and velocity control of a flexible joint robot manipulator via a fuzzy controller based on singular perturbation analysis | IEEE Conference Publication | IEEE Xplore
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Position and velocity control of a flexible joint robot manipulator via a fuzzy controller based on singular perturbation analysis

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R. Amjadi F; S.E. Khadem; H. Khaloozadeh
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Abstract:

A nonlinear system with complicated mathematical model is partitioned into two slow and fast subsystems, using singular perturbation theory. A fuzzy controller is designe...Show More

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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.
Published in: 10th IEEE International Conference on Fuzzy Systems. (Cat. No.01CH37297)
Date of Conference: 02-05 December 2001
Date Added to IEEE Xplore: 07 August 2002
Print ISBN:0-7803-7293-X
DOI: 10.1109/FUZZ.2001.1007320
Conference Location: Melbourne, VIC, Australia
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