Comparison of fuzzy logic and self-tuning adaptive control of single-link flexible arm

Abstract A single-link flexible arm is controlled by a control system which has two feedback loops: a PID loop to control the motor shaft position and the other loop to regulate the tip point vibration by either a fuzzy logic control or a self-tuning regulator. The two designs are compared based on the energy consumption, the steady-state error and the adaptation to payload changes. Experimental results indicate that the fuzzy logic controller is more robust to payload changes and to impulsive disturbances than the self-tuning regulator. Although the steady-state error of the self-tuning regulator is smaller, the fuzzy controller is a better vibration controller for the flexible arm.