Modeling and Model-free Fuzzy Control of a Continuum Robotic Arm

摘要

Continuum robotic arms have many advantages compared to traditional manipulators, which motivate further researches in this field. Dynamics modeling and controlling these systems are challenging areas due to the complicated nonlinearities and uncertainties. In this paper, a three-dimensional dynamics model of such manipulators is developed through appropriate system identification method that is validated by experimental data, and then it is used to design a PID-fuzzy controller. This is a model-free controller and does not require the exact model of the system for controlling the position of the end-effector. Next, the performance in reaching different positions of the workspace is investigated. Obtained results show the merits of the proposed controller.