Hybrid Control Method for a Flexible Manipulator

Abstract

This paper proposes an inverse adaptive network based fuzzy inference system (ANFIS) to control the nonlinearity, wide variations in loads, and uncertain disturbance of a single-link flexible robot manipulator. To reduce the end-point vibration of a single-link flexible manipulator without sacrificing its speed of response is a very important problem as the motion become faster. An inverse-ANFIS with feedback and feed-forward method is used to optimize parameters of the controller for flexible dynamic of the systems. The system performance with the controllers is presented and analyzed in the time and frequency domains. Moreover, it concentrates on the system from input torque to hub-angle, hub-velocity and end-point acceleration outputs. The results of the simulation test prove that the proposed are effective and suitable.