Hybrid control of flexible manipulator based on fuzzy relations

Abstract

The dynamics of flexible robot manipulator is very complex and difficult to analyze. Therefore, new algorithms that design the controller for the nonlinear and complicated systems are necessary. Fuzzy theories provide the methods to solve this problems. This paper considers the basic equation of a fuzzy dynamic system and the fuzzy relational equations. For the purpose of analyzing the system quantitatively, a new analysis method which converts the linguistic model of the system into a fuzzy relational equation is proposed. The algorithm that constructs the fuzzy inverse model-based controller is also suggested by using the converted fuzzy relation matrices of the relational equation. This proposed algorithm is applied to the design of the vibration suppression controller of a flexible robot arm. The hybrid controller is designed for position and vibration suppression using the proposed control scheme and a simple fuzzy logic controller.