A fuzzy logic-based intelligent decision support system for the selection of an appropriate input-shaping technique for controlling flexible link systems

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dc.contributor.authorKocak, Gulay Akkar
dc.contributor.authorBilgic, Hasan Huseyin
dc.contributor.authorConker, Caglar
dc.date.accessioned2024-02-23T14:17:16Z
dc.date.available2024-02-23T14:17:16Z
dc.date.issued2022
dc.departmentNEÜen_US
dc.description.abstractMost robotic systems consist of heavy machine elements that help reduce the vibrations generated by motion and that support good positional accuracy. Large-sized actuators are needed for such systems. Energy consumption significantly increases in oversized robotic systems. The proposed solution to which is to design robotic systems in lightweight and flexible forms. This makes possible smaller overall structure and actuator sizes. However, such systems suffer from residual vibrations. One well-known control solution to residual vibration problem could be input shaping techniques. In this study, a new Fuzzy Logic-based intelligent input shaping selection technique has been proposed. With this proposed approach, it is possible to set optimum settling time, positioning accuracy of robotic systems, and minimum residual vibrations by implementing the crucial open-loop control approach. Comprehensive experience is needed to overcome design issues on command shaping and system modeling. Based on these design criteria constraints and extensive knowledge requirements, the recommended solution is a Fuzzy Logic-based intelligent input shaping technique for accurate modeling and parameter estimation of the systems. The proposed approach is a Fuzzy Logic-based intelligent input shaper selection and input shaper setting determination algorithm. The applicability of the proposed method was verified on the Quanser Flexible Link experimental setup.en_US
dc.identifier.doi10.1080/02286203.2021.2001719
dc.identifier.endpage881en_US
dc.identifier.issn0228-6203
dc.identifier.issn1925-7082
dc.identifier.issue5en_US
dc.identifier.scopus2-s2.0-85119423527en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage868en_US
dc.identifier.urihttps://doi.org/10.1080/02286203.2021.2001719
dc.identifier.urihttps://hdl.handle.net/20.500.12452/13026
dc.identifier.volume42en_US
dc.identifier.wosWOS:000718686800001en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherTaylor & Francis Incen_US
dc.relation.ispartofInternational Journal Of Modelling And Simulationen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectInput Shapingen_US
dc.subjectResidual Vibrationen_US
dc.subjectExpert Systemen_US
dc.subjectFuzzy Logicen_US
dc.subjectFlexible Linken_US
dc.titleA fuzzy logic-based intelligent decision support system for the selection of an appropriate input-shaping technique for controlling flexible link systemsen_US
dc.typeArticleen_US

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