This chapter contains advanced studies in dynamic modelling and nonlinear control strategies applied to flexible-link robotic manipulators increasingly in demand in many fields such as industrial domain, medical intervention, and space exploitation. Taking into consideration the flexibility effect, Hamilton’s principle and Euler–Lagrange equations are associated to determine a highly nonlinear and coupled dynamic model. Therefore, the main control goals are to reach a perfect trajectory tracking without vibration impact. That is why, PD, Fuzzy, and gain scheduling Fuzzy PD controllers are applied to a rigid-flexible two links manipulator and then compared in terms of robustness and vibration minimization. A stability study is accomplished using the candidate function of Lyapunov. To improve performances, a robust Fractional Order Fuzzy PD (FOFPD) controller is developed by using non-integer order differentiator operators in the fuzzy PD controller. The gains of the FOFPD are normalized with the Particle Swarm Optimization (PSO) algorithm. The small gain theorem is used to establish the sufficient condition for bounded input-bounded output (BIBO) stability in closed-loop. Simulation results are introduced for each case of control to discuss reached performances.
Flexible-Link Manipulators: Dynamic Analysis and Advanced Control Strategies
Studies in Systems, Decision and Control
2020-02-12
28 pages
Article/Chapter (Book)
Electronic Resource
English
Rigid-flexible manipulator , Dynamic model , PD control , Fuzzy control , Fractional order fuzzy control , Particle Swarm Optimization Engineering , Robotics and Automation , Control and Systems Theory , Vibration, Dynamical Systems, Control , Mathematical and Computational Engineering , Complex Systems , Mathematics of Algorithmic Complexity
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