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• W2043690732 abstract "Abstract The advantages of combining a crisp algorithmic controller and a soft knowledge-based controller are addressed, in the specific context of controlling a space-based manipulator with flexible deployable and slewing links. A hierarchical control structure having a high-speed conventional controller at the bottom layer and an intelligent tuner at an upper layer, is developed. The top-level intelligent tuner uses a valid set of linguistic rules for adjusting proportional-derivative servos, based on fuzzy system concepts. The performance of the hierarchical control system is evaluated on the basis of the space-based simulation results. Based on the analysis it can be concluded that initial tuning of the parameters of a conventional low-level controller together with tuning during operation can improve positioning accuracy of the manipulator. The hierarchical control structure permitted desirable combination of a conventional high-bandwidth and knowledge-based low-bandwidth controllers." @default.
• W2043690732 created "2016-06-24" @default.
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• W2043690732 date "2002-02-01" @default.
• W2043690732 modified "2023-09-26" @default.
• W2043690732 title "Hierarchical Knowledge-based Control of a Deployable Orbiting Manipulator" @default.
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• W2043690732 doi "https://doi.org/10.1016/s0094-5765(01)00152-7" @default.
• W2043690732 hasPublicationYear "2002" @default.
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