Nonlinear Hybrid Controller for Flexible Link Manipulator Based Fuzzy Switch
Journal Title: International Research Journal of Applied and Basic Sciences - Year 2015, Vol 9, Issue 1
Abstract
Hybrid Controller has been developed in this study to control the flexible motion of a single-link robotic manipulator. The controller has been designed based on a simplified model of the arm, which only accounts for the first elastic mode of the beam. The controller consists of four parts: linear feedback, a nonlinear sliding mode (SMC) an adaptive fuzzy-neural network (FNN) controller and fuzzy switch.
Authors and Affiliations
Aliakbar Naeimi| Department of Physics Islamic Azad University of Khoram Abad, Iran, email: aa.naimi@gmail.com, Mohsen Naeimi| Ph. D. student, Department of Electrical engineering, Islamic Azad University of Arak,Iran
Keywords
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