Inverse dynamics based tuning of a fuzzy logic controller for a single-link flexible manipulator

摘要

Since its introduction to engineering applications, fuzzy logic has attracted many researchers because of its simplicity and robustness. Experience with a system is translated into heuristic rules which can be used to control that system. This article proposes a novel method for a generalized inverse dynamics based fuzzy logic controller (FLC) of a single-link flexible manipulator. The deflection of the flexible link was modeled using the assumed modes method. The control action is distributed between two FLCs: A joint angle controller and a tip controller. Each controller produces a torque value. The torque values are summed, and the resulting control action is used to drive the manipulator. A novel method for varying the ranges of the variables of the two controllers as a function of the motion parameters and the inverse dynamics of the system is presented. The relative shapes and distribution of the fuzzy membership sets ( with respect to each other) are kept fixed. Simulation results show that joint trajectory tracking is accomplished, and that the residual vibration of the flexible link is suppressed.