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Adaptive Network Based Fuzzy Logic Control of a Single Flexible Link Manipulator
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This work focuses on the End-point control of a single flexible link which rotates in the horizontal plane. The mathematical model is derived using energy equations. The resulting system of equations reduces to two different input models i.e voltage input and torque input. A fuzzy control strategy is described which is utilized to control the angular displacement and the tip deflection at end point of a single flexible-link robotic arm. Later control strategy based on adaptive network based fuzzy inference system (ANFIS) is described for the control of a single flexible link manipulator. The developed controller has two subsystems. The fast-subsystem suppresses the vibration of the flexible link manipulator end point, and the other slow-subsystem controller controls the desired position. The proposed controller gives the better performance compared to the normal fuzzy logic controller. Model accuracy of voltage input and torque input models are carried out in this study.
Keywords
Flexible Link Manipulator, Fuzzy Logic Controller, ANFIS
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