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Authors: Clarence W. de Silva and Jian Zhang

Affiliation: University of British Columbia, Canada

Keyword(s): Deployable manipulator, Intelligent tuning, Modal control.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Computational Intelligence ; Fuzzy Control ; Fuzzy Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Soft Computing

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. Re sults suggest that performance of the modal controller could be significantly improved through knowledge-based tuning. (More)

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Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 206-213. DOI: 10.5220/0001128302060213

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - de Silva, C.
AU - Zhang, J.
PY - 2004
SP - 206
EP - 213
DO - 10.5220/0001128302060213
PB - SciTePress

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