Flexible manipulator trajectory tracking and vibration fuzzy control
Lv Kuan-zhou1， CHEN Su-xia2， HUANG Quan-zhen1
1. School of Electrical Information Engineering， Henan Institute of Engineering， Zhengzhou 451191, China; 2. School of Computer， Henan Institute of Engineering， Zhengzhou 451191, China
Abstract As the dynamics model of flexible manipulator are very complex, traditional model-based control strategies are not suitable for solving the control problem. A new fuzzy control algorithm was proposed based on proportional-derivative type fuzzy rule. Firstly, a proportional-derivative type fuzzy controller was developed for angular position control. Then it was extended to incorporate a fuzzy controller and input shaping algorithm for vibration suppression. To verify the proposed methods, an experiment was constructed and real time control performance was shown both in time domain and frequency domain. The control performance of the proposed control algorithms were verified in terms of tracking capability, vibration suppression performance as well as time response specifications.
