Control of a Flexible Robot Using Fuzzy Logic and a Noncollocated Sensor
نویسندگان
چکیده
Inverse flexible dynamics control (IFDC) and fuzzy logic system adaptive control (FLSAC) strategies are used to track the end effector of a flexible space robot with sensors collocated at the joints, noncollocated at the end effector and 0.5m from the elbow joint on link 2. Collocated joint sensors satisfy hyperstability conditions but fail to capture nonminimum phase (NMP) response that generates time-delays causing asynchronous control action. Noncollocated sensors capture NMP response but require time delay compensation to achieve synchronous control action. Results for IFDC are insignificant compared to those achieved with FLSAC. Copyright © 2008 IFAC
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