Comparison of fuzzy logic and self-tuning adaptive control of single-link flexible arm

Autor:	A. T. Wu, Ming-Shaung Ju, Y. G. Tsuei
Rok vydání:	1993
Předmět:	Engineering Adaptive control business.industry Mechanical Engineering Payload (computing) Self-tuning Regulator PID controller Control engineering Fuzzy logic Computer Science Applications Control and Systems Engineering Control theory Control system Electrical and Electronic Engineering business
Zdroj:	Mechatronics. 3:451-464
ISSN:	0957-4158
DOI:	10.1016/0957-4158(93)90017-v
Popis:	A single-link flexible arm is controlled by a control system which has two feedback loops: a PID loop to control the motor shaft position and the other loop to regulate the tip point vibration by either a fuzzy logic control or a self-tuning regulator. The two designs are compared based on the energy consumption, the steady-state error and the adaptation to payload changes. Experimental results indicate that the fuzzy logic controller is more robust to payload changes and to impulsive disturbances than the self-tuning regulator. Although the steady-state error of the self-tuning regulator is smaller, the fuzzy controller is a better vibration controller for the flexible arm.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::06224688c55b3d029da0892db98c5b0d https://doi.org/10.1016/0957-4158(93)90017-v Zobrazit plný text záznamu