Real-Time Fuzzy Logic Control of Two-Link Flexible Manipulators

Abstract

This study investigates the development of a Fuzzy Logic Controller (FLC) for tracking a sinusoidal wave trajectory and suppressing the vibration of a Two Link Flexible Manipulator (TLFM). The TLFM was modeled using Lagrange's formalism and the Assumed Mode Method (AMM). A three-part apparatus consisting of a TLFM mathematical model, a real-world TLFM, and control software was designed and implemented. The FLC was applied to both the simulated and real-world TLFM. The robustness of the FLC was investigated by considering variable payload mass and link angular velocity in both constructive and destructive link interference trajectory cases. Simulation and experimental results show the effectiveness and robustness of the proposed FLC.