The performance of model-based feed-forward controllers strongly depends on the quality of the underlying dynamical system model. Consequently, discrepancies between the real system and the model lead to systemically misbehaving controllers. Modeling errors can effectively be taken into account by the use of fuzzy arithmetic, which allows the inclusion of parametric uncertainty in the modeling procedure. In this paper, a strategy is presented to include modeling errors in a feed-forward controller design using fuzzy arithmetic. The presented scenario considers the end-effector trajectory tracking of a two-arm manipulator with one rigid and one flexible arm. The controller design is based on a simplified model which approximates the elasticity of the second arm with two rigid links and one passive joint. The modeling error is identified using inverse fuzzy arithmetic. Furthermore, the knowledge about the uncertainty is included in the subsequent controller design in order to improve the tracking performance.
展开▼
