Design of adaptive fuzzy controller for flexible link manipulator

摘要

A novel control strategy is developed which is used to control both the rigid body and the first flexural mode of vibration in a single link robotic arm. The fuzzy control, neighborhood clustering algorithm and the variable regressive estimation technology is used in the control strategy. It overcomes the defects of the conventional control methods such as the strong dependence to the system, difficulty of the acquirement of the professional knowledge during the modifying period of the rules and so on. The space robot flexible arm is a typical nonlinear system. Simulated results demonstrate that the proposed control technique is well suited for flexible link manipulator.