Fuzzy lyapunov synthesis-based controller for a flexible manipulator: experimental results

This paper presents the design and control of a single-link flexible-joint robot manipulator. A cascade fuzzy logic controller (FLC) was used to remove link vibrations and to obtain fast trajectory tracking performance.The cascade FLC structure includes 3 different FLCs. The input variables of the first and the second FLCs are the motor rotation angle error, its derivative, and the end-point deflection error its derivative, respectively. The outputs of these controllers are the inputs of the third FLC, which yields the control signal to the flexible robot arm. All of the FLCs were embedded in a DS1103 real-time control board. Several experiments were conducted to verify the controller performance. In the step-response experiments, the error of motor rotation angle was obtained as less than 0.12 • and there was no steady-state error in the end-point deflection. In trajectory tracking experiments with the same FLC structure, small errors and phase shifts in the system variables occurred. Model parameters of the flexible arm such as link length and spring stiffness were changed to test the robustness of the FLC. It was seen that the FLCs were very robust to internal and external disturbances. Considering the results of the experiments, the proposed FLC structure shows efficient control performance in flexible robot arms.

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“…Mannani et al [28] also developed a fuzzy Lyapunov synthesis-based controller for a 2-rigid link and 1-flexible link manipulator.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy logic control of single-link flexible joint manipulator

Akyuz

Kizir

Bingül

2011

2011 IEEE International Conference on Industrial Technology

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“…An input shaping with PD-type fuzzy logic control for vibration and trajectory tracking of flexible arm robot is presented in explicitly in [12]. In passing [13], a controller is developed using fuzzy Lyapunov synthesis (FLS) to control vibration of a flexible manipulator.Inpassing [14] an experimental study using fuzzy logic and neural networks tools is presented for active vibration control of a single link flexible manipulator system. In [15],an adaptive network based interval type-2 fuzzy logic controller was developed for the control of a single flexible link carrying a pendulum.…”

Section: Introductionmentioning

confidence: 99%

Vibration and tip deflection control of a Single-link flexible manipulator

Abdullahi¹,

Mohamed²,

Muhammad³

et al. 2013

IJICS

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In this paper, a hybrid control scheme for vibration and tip deflection control of a single link flexible manipulator system is presented. The purpose of this control is for input tracking, vibration control of hub angle and tip deflection control. The control scheme consists of a resonant controller and a fuzzy logic controller (FLC).The resonant controller is used as the inner loop feedback controller for vibration control using the resonant frequencies at different resonant modes of the system which were determined from experiment. The fuzzy logic controller is designed as the outer loop feedback controller for the tracking control and to achieve zero steady state error. The performance of the proposed control scheme is investigated via simulations and the results show the effectiveness of the control scheme, in addition thecontroller is tested to show it robustness using different values of payload.

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