Abstract
The research establishes a Takagi-Sugeno Fuzzy controller to control a desired tip angle position of a rotary flexible joint robotic arm. The TSF is also employed to dampen the vibration that produced when a rotary flexible joint robotic arm reaching to a desired tip angle position. In order to assess the controller performance, the proposed TSF is compared with the Linear Quadratic Regulator (LQR) controller via simulation and experiment. In particular, there are two different angles affect the system performance that need to be controlled namely the servo angle, θ, and the arm deflection, α. The results showed that the TSF is satisfactorily controlled both the servo angle, θ and the arm deflection, α. In addition, the TSF performed better than LQR controller in simulation and experiment.
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