AbstractThe present study 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. Realistic examples are considered where the system experiences vibrations due to initial disturbances 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. Results suggest that performance of the modal controller could be significantly improved through knowledge-based tuning.


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    Title :

    Intelligent hierarchical modal control of a novel manipulator with slewing and deployable links


    Contributors:
    Modi, V.J. (author) / Zhang, J. (author) / de Silva, C.W. (author)

    Published in:

    Acta Astronautica ; 57 , 10 ; 761-771


    Publication date :

    2004-11-22


    Size :

    11 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Dynamics of a Manipulator with Slewing and Deployable Links

    Cao, Y. / Modi, V. J. / de Silva, C. W. | British Library Conference Proceedings | 2000



    Dynamics and Control of a Manipulator with Slewing and Deployable Links

    Modi, Vinod / Zhang, Jian / de Silva, Clarance | AIAA | 2002


    AIAA-2002-4522 Dynamics and Control of a Manipulator with Slewing and Deployable Links

    Modi, V. / Zhang, J. / de Silva, C. et al. | British Library Conference Proceedings | 2002