A fuzzy logic learning control for vibration suppression of manipulator robot systems

摘要

Fuzzy Logic Learning Control method is proposed to achieve precise tracking control and end-point vibration suppression of a flexible manipulator robot system. The Fuzzy Logic Learning Control is done in a feedback configuration with collocated PD control with the learning law updates the feedforward input from the error of the previous trial. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the hybrid Fuzzy Logic Learning Control scheme is assessed in terms of input tracking and level of vibration reduction in comparison to a conventionally designed collocated PD with input shaping control scheme.