A Novel Fuzzy Optimal Controller on Motion and Vibration Coordination Control for a Multi-flexible Link Manipulator

In this paper, a new motion and vibration coordination controller - a Fuzzy Linear Quadratic Regulator (FLQR) controller is proposed for the control of a multi-flexible link manipulator. The FLQR controller bases on the dynamic model of multi-flexible link manipulators, which is based on the finite element method(FEM) and the Lagrange equation. Then a synthesized LQR controller in which both rigid-body motion and elastic deformation are considered, is combined with a fuzzy controller to adjust weight ratio between motion state variables and vibration state variables in weight matrix of LQR online, according to motion and vibration feedback information. The performance of the FLQR controller is compared with that of previous typical motion and vibration controllers based on a flexible four-bar linkage in simulation. Results show that the proposed controller is more effective on motion and vibration coordination control.

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