• Title/Summary/Keyword: Flecble Manipulator

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Vibration control of a single-link flexible manipulator using fuzzy- sliding modes (퍼지-슬라이딩 모드를 이용한 단일링크 유연 매니퓰레이터의 진동제어)

  • Choi, Seung-Bok
    • Journal of KSNVE
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    • v.6 no.1
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    • pp.35-44
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    • 1996
  • This paper presents a new type of fuzzy-sliding mode controller for robust tip position control of a single-link flexible manipulator subjected to parameter variations. A sliding mode controller is formulated with an assumption that imposed parameter variations are bounded so that certain deterministic performance can be guaranted. In the design of the sliding mode controller, so called moving sliding surface is adopted to minimize the reaching phase and thus mitigate system sensitivity to the variations. The sliding mode controller is then incorporated with a fuzzy technique to reduce inherently ever-existing chattering which is impediment in position control of flexible manipulators. A set of fuzzy parameters and control rules are obtained from a relation between predetermined sliding surface and representative points in the state space. Computer simulations are undertaken in order to demonstrate superior control performance of the proposed methodology.

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