병렬퍼지 제어기와 기준궤적신호를 이용한 유연한 매니퓰레이터의 진동제어 = The vibration control of Flexible Manipulator using Parallel Fuzzy controller and Reference Trajectory Command

다국어 초록 (Multilingual Abstract)

A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in single flexible manipulator. In this paper, an existing model for a single flexible manipulator is used for the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and the second FLC is designed to attenuate the tip deflection which result from joint angle body motion. Reference Trajectory Command is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined parallel fuzzy controller. The effectiveness of proposed scheme is demonstrated through computer simulation.