HIERARCHICAL MODAL CONTROL OF A NOVEL MANIPULATOR

Clarence W. de Silva, Jian Zhang

Abstract

This paper focuses on the development and implementation of an intelligent hierarchical controller for the vibration control of a deployable manipulator. The emphasis is on the use of knowledge-based tuning of the low-level controller so as to improve the performance of the system. To this end, first a fuzzy inference system (FIS) is developed. The FIS is then combined with a conventional modal controller to construct a hierarchical control system. Specifically, a knowledge-based fuzzy system is used to tune the parameters of the modal controller. The effectiveness of the hierarchical control system is investigated through numerical simulation studies. Examples are considered where the system experiences vibrations due to initial disturbance at the flexible revolute joint or due to maneuvers of a deployable manipulator. The results show that the knowledge-based hierarchical control system is quite effective in suppressing vibrations induced due to the above mentioned disturbances. Results suggest that performance of the modal controller could be significantly improved through knowledge-based tuning.

References

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  5. de Silva, C.W., 2000. Vibration Fundamentals and Practice, CRC Press, Boca Raton, FL, U.S.A.
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  7. Time, s 6 8 10
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Paper Citation


in Harvard Style

de Silva C. and Zhang J. (2004). HIERARCHICAL MODAL CONTROL OF A NOVEL MANIPULATOR . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-12-0, pages 206-213. DOI: 10.5220/0001128302060213


in Bibtex Style

@conference{icinco04,
author={Clarence W. de Silva and Jian Zhang},
title={HIERARCHICAL MODAL CONTROL OF A NOVEL MANIPULATOR},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2004},
pages={206-213},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001128302060213},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - HIERARCHICAL MODAL CONTROL OF A NOVEL MANIPULATOR
SN - 972-8865-12-0
AU - de Silva C.
AU - Zhang J.
PY - 2004
SP - 206
EP - 213
DO - 10.5220/0001128302060213