Single Input Fuzzy Logic Controller for Flexible Joint Manipulator

Joint elasticity in the dynamics of robots manipulator makes the conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of single input fuzzy logic controller (SIFLC) for tip angular position tracking and deflection a...

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Main Authors:	Mohd Riduwan, Ghazali, Mohd Helmi, Suid, Zuwairie, Ibrahim, Muhammad Salihin, Saealal, Mohd Zaidi, Mohd Tumari
Format:	Article
Language:	English English
Published:	IJICIC 2016
Subjects:	QA75 Electronic computers. Computer science
Online Access:	http://umpir.ump.edu.my/id/eprint/12559/ http://umpir.ump.edu.my/id/eprint/12559/ http://umpir.ump.edu.my/id/eprint/12559/1/IJICIC_Vol12No1_1.pdf http://umpir.ump.edu.my/id/eprint/12559/6/fkee-2016-riduan-single%20input%20fuzzy.pdf

id	ump-12559
recordtype	eprints
spelling	ump-125592018-02-27T08:08:10Z http://umpir.ump.edu.my/id/eprint/12559/ Single Input Fuzzy Logic Controller for Flexible Joint Manipulator Mohd Riduwan, Ghazali Mohd Helmi, Suid Zuwairie, Ibrahim Muhammad Salihin, Saealal Mohd Zaidi, Mohd Tumari QA75 Electronic computers. Computer science Joint elasticity in the dynamics of robots manipulator makes the conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of single input fuzzy logic controller (SIFLC) for tip angular position tracking and deflection angle reduction of a flexible joint manipulator system. A Quanser flexible joint manipulator system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method, known as the SIFLC, reduces the conventional two-input FLC (CFLC) to a single input single output (SISO) controller. Two parallel SIFLC are developed for both tip angular position and deflection angle control. The proposed control scheme is also compared with existing results by Ahmad et al., which are hybrid proportional-derivative (PD) with low-pass filter (LPF) and PD with non-collocated fuzzy logic control schemes. The performances of the control schemes are assessed in terms of tip angular tracking capability, level of deflection angle reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed. IJICIC 2016-02 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/12559/1/IJICIC_Vol12No1_1.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/12559/6/fkee-2016-riduan-single%20input%20fuzzy.pdf Mohd Riduwan, Ghazali and Mohd Helmi, Suid and Zuwairie, Ibrahim and Muhammad Salihin, Saealal and Mohd Zaidi, Mohd Tumari (2016) Single Input Fuzzy Logic Controller for Flexible Joint Manipulator. International Journal of Innovative Computing, Information and Control, 12 (1). pp. 181-191. ISSN 1349-4198 http://www.ijicic.org/icicic2015-609.pdf
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	QA75 Electronic computers. Computer science
spellingShingle	QA75 Electronic computers. Computer science Mohd Riduwan, Ghazali Mohd Helmi, Suid Zuwairie, Ibrahim Muhammad Salihin, Saealal Mohd Zaidi, Mohd Tumari Single Input Fuzzy Logic Controller for Flexible Joint Manipulator
description	Joint elasticity in the dynamics of robots manipulator makes the conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of single input fuzzy logic controller (SIFLC) for tip angular position tracking and deflection angle reduction of a flexible joint manipulator system. A Quanser flexible joint manipulator system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method, known as the SIFLC, reduces the conventional two-input FLC (CFLC) to a single input single output (SISO) controller. Two parallel SIFLC are developed for both tip angular position and deflection angle control. The proposed control scheme is also compared with existing results by Ahmad et al., which are hybrid proportional-derivative (PD) with low-pass filter (LPF) and PD with non-collocated fuzzy logic control schemes. The performances of the control schemes are assessed in terms of tip angular tracking capability, level of deflection angle reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
format	Article
author	Mohd Riduwan, Ghazali Mohd Helmi, Suid Zuwairie, Ibrahim Muhammad Salihin, Saealal Mohd Zaidi, Mohd Tumari
author_facet	Mohd Riduwan, Ghazali Mohd Helmi, Suid Zuwairie, Ibrahim Muhammad Salihin, Saealal Mohd Zaidi, Mohd Tumari
author_sort	Mohd Riduwan, Ghazali
title	Single Input Fuzzy Logic Controller for Flexible Joint Manipulator
title_short	Single Input Fuzzy Logic Controller for Flexible Joint Manipulator
title_full	Single Input Fuzzy Logic Controller for Flexible Joint Manipulator
title_fullStr	Single Input Fuzzy Logic Controller for Flexible Joint Manipulator
title_full_unstemmed	Single Input Fuzzy Logic Controller for Flexible Joint Manipulator
title_sort	single input fuzzy logic controller for flexible joint manipulator
publisher	IJICIC
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/12559/ http://umpir.ump.edu.my/id/eprint/12559/ http://umpir.ump.edu.my/id/eprint/12559/1/IJICIC_Vol12No1_1.pdf http://umpir.ump.edu.my/id/eprint/12559/6/fkee-2016-riduan-single%20input%20fuzzy.pdf
first_indexed	2023-09-18T22:14:20Z
last_indexed	2023-09-18T22:14:20Z
_version_	1777415235927277568

Single Input Fuzzy Logic Controller for Flexible Joint Manipulator

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