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Experimental Comparison Research on Active Vibration Control for Flexible Piezoelectric Manipulator Using Fuzzy Controller
文献类型：期刊论文
| 作者 | Wei JJ(魏井君); Qiu ZC(邱志成); Han JD(韩建达) ; Wang YC(王越超)
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| 刊名 | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
 |
| 出版日期 | 2010 |
| 卷号 | 59期号:1页码:31-56 |
| 关键词 | Flexible manipulator Active vibration control Fuzzy logic Smart structure Experiments |
| ISSN号 | 0921-0296 |
| 产权排序 | 2 |
| 中文摘要 | Space manipulators are flexible structures. Vibration problem will be unavoidable due to motion or external disturbance excitation. Model based control methods will not maintain the required accuracy because of the existence of nonlinear factors and parameter uncertainties. To solve these problems, fuzzy logic control laws with different membership function groups are adopted to suppress vibrations of a flexible smart manipulator using collocated piezoelectric sensor/actuator pair. Also, dual-mode controllers combining fuzzy logic and proportional integral control are designed, for suppressing the lower amplitude vibration near the equilibrium point significantly. Experimental comparison research is conducted, using fuzzy control algorithms and the dual-mode controllers with different membership functions. The experimental results show that the adopted fuzzy control algorithms can substantially suppress the larger amplitude vibration; and the dual-mode controllers can also damp out the lower amplitude vibration significantly. The experimental results demonstrate that the proposed fuzzy controllers and dual-mode controllers can suppress vibration effectively, and the optimal placement is feasible. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Artificial Intelligence ; Robotics |
| 研究领域[WOS] | Computer Science ; Robotics |
| 关键词[WOS] | NONHOLONOMIC MOBILE MANIPULATORS ; ACTUATOR PLACEMENT ; CANTILEVER PLATE ; SMART STRUCTURES ; SUPPRESSION ; FEEDBACK ; BEAM ; IDENTIFICATION ; OPTIMIZATION ; ABSORBER |
| 收录类别 | SCI ; EI |
| 资助信息 | This work was partially supported by the National Natural Science Foundation of China under Grants 60404020 and 90505014, and in part by State Key Laboratory of Robotics Foundation (No. RLO200805). The authors gratefully acknowledge these support agencies. |
| 语种 | 英语 |
| WOS记录号 | WOS:000278119700002 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7349]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wei JJ,Qiu ZC,Han JD,et al. Experimental Comparison Research on Active Vibration Control for Flexible Piezoelectric Manipulator Using Fuzzy Controller[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,2010,59(1):31-56. |
| APA | Wei JJ,Qiu ZC,Han JD,&Wang YC.(2010).Experimental Comparison Research on Active Vibration Control for Flexible Piezoelectric Manipulator Using Fuzzy Controller.JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,59(1),31-56. |
| MLA | Wei JJ,et al."Experimental Comparison Research on Active Vibration Control for Flexible Piezoelectric Manipulator Using Fuzzy Controller".JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 59.1(2010):31-56. |
入库方式： OAI收割
来源：沈阳自动化研究所
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