Hybrid controller for a single flexible link manipulator

Abstract EN

In this study, the dynamic modeling and step input tracking control of single flexible link is studied.

The Lagrange-assumed modes approach is applied to get the dynamic model of a planner single link manipulator.

A Step input tracking controller is suggested by utilizing the hybrid controller approach to overcome the problem of vibration of tip position through motion which is a characteristic of the flexible link system.

The first controller is a modified version of the proportional-derivative (PD) rigid controller to track the hub position while sliding mode (SM) control is used for vibration damping.

Also, a second controller (a fuzzy logic based proportional-integral plus derivative (PI + D) control scheme) is developed for both vibration damping and hub position tracking.

A comparison is made between the performances of these two controllers.

The Hybrid controller with PD and SM shows better tracking behavior than obtained from the suggested fuzzy (PI + D) 2 controller for a single link flexible manipulator.