STUDY ON FUZZY PD CONTROL OF PLANAR TWO-LINK FLEXIBLE MANIPULATOR

摘要

In this paper, we emphasized on the -research of dynamic nonlinear control of planar two-link flexible manipulators. The flexible manipulator is a nonlinear and strong coupling dynamic system, and the complicated control system of which has a bad control property of real time and stability. According to the control problems above, the fuzzy composed controller with a nonlinear compensatory and a PD controller is proposed by well considered both the dynamic and static control properties of the system. At last, the control method is verified by computer simulation, based on the dynamic model of a planar two-link flexible manipulator. The simulation results show that the control strategy has a good result on the elastic vibration reducing of flexible manipulators.