PD Fuzzy Logic with Non-collocated PID Approach for Vibration Control of Flexible Joint Manipulator

PD Fuzzy Logic with Non-collocated PID Approach for Vibration Control of Flexible Joint Manipulator

The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of PD type Fuzzy Logic Control (FLC) with non-collocated Proporti...

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Main Authors: Mohd Ashraf, Ahmad, Mohd Helmi, Suid, Mohd Syakirin, Ramli
Format: Conference or Workshop Item
Language:English
Published: 2010
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/2434/
http://umpir.ump.edu.my/id/eprint/2434/
http://umpir.ump.edu.my/id/eprint/2434/1/PD_Fuzzy_Logic_with_Non-collocated_PID_Approach_for_Vibration_Control_of_Flexible_Joint_Manipulator.doc
id ump-2434
recordtype eprints
spelling ump-24342018-02-28T04:47:47Z http://umpir.ump.edu.my/id/eprint/2434/ PD Fuzzy Logic with Non-collocated PID Approach for Vibration Control of Flexible Joint Manipulator Mohd Ashraf, Ahmad Mohd Helmi, Suid Mohd Syakirin, Ramli TK Electrical engineering. Electronics Nuclear engineering The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of PD type Fuzzy Logic Control (FLC) with non-collocated Proportional Integral Derivative (PID) for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD type Fuzzy Logic Controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated PID Controller for vibration reduction of the flexible joint system. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the non-collocated PID control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2434/1/PD_Fuzzy_Logic_with_Non-collocated_PID_Approach_for_Vibration_Control_of_Flexible_Joint_Manipulator.doc Mohd Ashraf, Ahmad and Mohd Helmi, Suid and Mohd Syakirin, Ramli (2010) PD Fuzzy Logic with Non-collocated PID Approach for Vibration Control of Flexible Joint Manipulator. In: 6th International Colloquium on Signal Processing and Its Applications 2010, 21-23 May 2010 , Melaka, Malaysia. pp. 1-5.. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5545243
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Mohd Ashraf, Ahmad
Mohd Helmi, Suid
Mohd Syakirin, Ramli
PD Fuzzy Logic with Non-collocated PID Approach for Vibration Control of Flexible Joint Manipulator
description The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of PD type Fuzzy Logic Control (FLC) with non-collocated Proportional Integral Derivative (PID) for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD type Fuzzy Logic Controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated PID Controller for vibration reduction of the flexible joint system. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the non-collocated PID control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.
format Conference or Workshop Item
author Mohd Ashraf, Ahmad
Mohd Helmi, Suid
Mohd Syakirin, Ramli
author_facet Mohd Ashraf, Ahmad
Mohd Helmi, Suid
Mohd Syakirin, Ramli
author_sort Mohd Ashraf, Ahmad
title PD Fuzzy Logic with Non-collocated PID Approach for Vibration Control of Flexible Joint Manipulator
title_short PD Fuzzy Logic with Non-collocated PID Approach for Vibration Control of Flexible Joint Manipulator
title_full PD Fuzzy Logic with Non-collocated PID Approach for Vibration Control of Flexible Joint Manipulator
title_fullStr PD Fuzzy Logic with Non-collocated PID Approach for Vibration Control of Flexible Joint Manipulator
title_full_unstemmed PD Fuzzy Logic with Non-collocated PID Approach for Vibration Control of Flexible Joint Manipulator
title_sort pd fuzzy logic with non-collocated pid approach for vibration control of flexible joint manipulator
publishDate 2010
url http://umpir.ump.edu.my/id/eprint/2434/
http://umpir.ump.edu.my/id/eprint/2434/
http://umpir.ump.edu.my/id/eprint/2434/1/PD_Fuzzy_Logic_with_Non-collocated_PID_Approach_for_Vibration_Control_of_Flexible_Joint_Manipulator.doc
first_indexed 2023-09-18T21:56:13Z
last_indexed 2023-09-18T21:56:13Z
_version_ 1777414096748019712

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