Mathematical modeling and fuzzy control of a flexible-link robot arm (Q1388961)

The study is concerned with the modelling and control of a flexible link robot arm regarded as a shoulder-elbow like structure. The model is developed with the use of the Timoshenko theory to accommodate significant effects of rotational inertia and traverse shear in the beam model. Two fuzzy PI+D controllers are used for vibration suppression and set point tracking control. They are designed taking account of commonsense domain knowledge quantified in terms of fuzzy sets and a set of rules. A stability analysis is carried out in an analytic way. Extensive simulation experiments are also included.