Hybrid Feedback Linearization/Fuzzy Logic Control of a Flexible Link Manipulator

Abstract

A feedback-linearization/fuzzy logic control scheme for a robotic manipulator with link flexibility is designed. This control scheme is composed of a feedback-linearization inner-loop control and a fuzzy linguistic outer-loop control. A reduced-order computed torque (ROCT) control is first used to linearize the whole system to a Newton's-law-like system, then a linguistic fuzzy controller that consists of 33 condition-action rules is used to command the rigid modes to track the desired trajectories while maintaining the residual vibration as small as possible.