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Soft computing methods applied to the control of a flexible robot manipulator |
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| Authors: | B Subudhi AS Morris |
| Affiliation: | 1. Department of Electrical Engineering, National Institute of Technology, Rourkela 769008, India;2. Department of Automatic Control & Systems Engineering, Mappin Street, University of Sheffield, Sheffield S1 3JD, United Kingdom;1. Department of Computer Science, Xiamen University, Xiamen 361005, Fujian, China;2. Department of Computer Science, University of Oxford, Wolfson Building, Parks Road, Oxford OX1 3QD, UK;3. Key Laboratory of Image Information Processing and Intelligent Control, School of Automation, Huazhong University of Science and Technology, Wuhan 430074, Hubei, China;1. School of Computer Science and Technology, Soochow University, Suzhou 215006, China;2. Provincial Key Laboratory for Computer Information Processing Technology, Soochow University, Suzhou 215006, China;3. Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China, Institute of Artificial Intelligence, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China |
| Abstract: | The paper describes use of soft computing methods (fuzzy logic and neural network techniques) in the development of a hybrid fuzzy neural control (HFNC) scheme for a multi-link flexible manipulator. A manipulator with multiple flexible links is a multivariable system of considerable complexity due to the inter-link coupling effects that are present in both rigid and flexible motions. Modelling and controlling the dynamics of such manipulators is therefore difficult. The proposed HFNC scheme generates control actions combining contributions form both a fuzzy controller and a neural controller. The primary loop of the proposed HFNC contains a fuzzy controller and a neural network controller in the secondary loop to compensate for the coupling effects due to the rigid and flexible motion along with the inter-link coupling. It has been ascertained from the present investigation that the proposed soft-computing-based controller works effectively in the tracking control of such a multi-link flexible manipulator. The results are extendable to other multivariable systems of similar complexity. |
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