Fuzzy logic control for flexible link robot arm by singular perturbation approach

@article{Kuo2002FuzzyLC,
  title={Fuzzy logic control for flexible link robot arm by singular perturbation approach},
  author={K. Y. Kuo and Jeremy Lin},
  journal={Appl. Soft Comput.},
  year={2002},
  volume={2},
  pages={24-38}
}
Abstract This work addresses flexible-link robot arm control using fuzzy logic, and a singular perturbation approach. A singular perturbation approach is introduced to derive the slow and fast subsystems and thus reduce the effect of spillover. Consequently, a two-time scale fuzzy logic controller will be applied for such systems. The fast-subsystem controller damps out the vibration of the flexible structure by the optimal control method. Thus, the slow-subsystem fuzzy controller dominates the… CONTINUE READING

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