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Arabian Journal for Science and Engineering
Published in: Arabian Journal for Science and Engineering 3/2020

21-01-2020 | Research Article-Electrical Engineering

Adaptive Control of a Two-Link Flexible Manipulator Using a Type-2 Neural Fuzzy System

Authors: Muhammad Umair Khan, Tolgay Kara

Published in: Arabian Journal for Science and Engineering | Issue 3/2020

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Abstract

This paper presents a simple novel intelligent control scheme. The devised control scheme is a Takagi Sugeno Kang (TSK)- based type-2 neural fuzzy system (NFS) with a self-tuning mechanism optimized via a conjugate gradient (CG) method. Defuzzification phase of the NFS comprises T-norms rather than the conventional product–sum combination. The proposed control scheme is incorporated with a two-link flexible manipulator (TLFM), which belongs to the class of multi-body discrete/distributed, nonlinear, infinite-dimensional and highly coupled systems. The finite-dimensional model is acquired by using an assumed mode method (AMM). The truncated model has uncertainties, which makes it a difficult control problem. The control objective is to accomplish angular maneuvering of the TLFM links while regulating their intrinsic fluctuations. For an extensive analysis, the proposed control scheme is compared with a TSK model-based type-1 NFS and an adaptive proportional integral derivative (APID) control scheme. The simulation results demonstrate that the proposed control scheme exhibits better position tracking and vibration regulation capabilities compared to the other intelligent control schemes.
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Metadata
Title
Adaptive Control of a Two-Link Flexible Manipulator Using a Type-2 Neural Fuzzy System
Authors
Muhammad Umair Khan
Tolgay Kara
Publication date
21-01-2020
Publisher
Springer Berlin Heidelberg
Published in
Arabian Journal for Science and Engineering / Issue 3/2020
Print ISSN: 2193-567X
Electronic ISSN: 2191-4281
DOI
https://doi.org/10.1007/s13369-020-04341-9

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