Comparative assessment between PD and fuzzy controllers for a rigid-flexible manipulator robot

摘要

Dynamic model and control strategies development of a rigid-flexible manipulator robot are presented in this paper. Dynamics, generated using Hamilton's principle, are highly non-linear and complex. Then the obtained model becomes linearized around a chosen operating point for the system. Two different strategies of control are applied to the rigid-flexible manipulator for the vibration suppression and robustness against disturbances. Finally, a set of simulation result is given to compare the two PD and fuzzy controllers in terms of rapidity, stability and desired performances. the paper is ended with a conclusion.