Global Hybrid Fuzzy Controller for a Flexible Single-Link Manipulator

This study presents a development of a global fuzzy control scheme for the vibration suppression and the input tracking of a flexible single-link manipulator based on fuzzy logic theory and commutation strategy. A flexible single-link with a horizontal planar vibration is considered and then the dynamic model is derived using Lagrange s equations and finite element method. To design the proposed global fuzzy controller, 2 separated mamdani fuzzy controllers are determined for the hub angle and the end-point residual loops. The control signal is the result of an auto-commutative takagi-sugeno fuzzy switcher that selects the adequate command to become the hub torque input. Simulation results of the global fuzzy controller are discussed in terms of level of vibration reduction, speed of response and trajectory tracking.