An Adaptive Fuzzy Control Method of Single-Link Flexible Manipulators with Input Dead-Zones
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An Adaptive Fuzzy Control Method of Single-Link Flexible Manipulators with Input Dead-Zones Chenglin Zhang1,2 • Tong Yang1,2 • Ning Sun1,2
•
Yongchun Fang1,2
Received: 5 March 2020 / Revised: 11 May 2020 / Accepted: 5 September 2020 Ó Taiwan Fuzzy Systems Association 2020
Abstract Flexible manipulators are widely used in aerospace industry and precision instrument manufacturing industry. However, due to the mechanism flexibility, the system dynamics have high nonlinearity and complexity, which make controller design pretty challenging. Moreover, in real production, electromechanical systems, including flexible manipulators, usually suffer from nonlinear input dead-zones and unknown system parameters/ structures. Considering the above problems, an adaptive fuzzy control method is proposed, which can make the flexible link reach a desired rotation angle within finite time and simultaneously suppress the vibration of the manipulator. In the meantime, the system uncertainties are compensated, and the effect of input dead-zones is eliminated. In addition, the stability of the equilibrium point for the single-link flexible manipulator system is proven by rigorous theoretical analysis. Finally, the effectiveness and robustness of the proposed control method are verified by numerical simulations. Keywords Flexible link manipulators Vibration suppression Adaptive fuzzy control
& Ning Sun [email protected] 1
Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University, Tianjin 300350, China
2
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China
1 Introduction Robots [1–4] are one of the most remarkable scientific and technological achievements in the twentieth century and an important research fruit in the field of automatic control. With the continuous intellectualization of robots, robot technology has gradually entered daily life from manufacturing industry and becomes a research direction of great concern. As a kind of the most widely used mechanical devices in the field of robotics, manipulators [5] have been used in all walks of life for grasping and operating objects. Traditional manipulators are considered to be rigid, neglecting the elastic deformation in the mechanism. They have not only simple structure, but also large volume, high energy consumption, and slow speed. With the continuous improvement of the production levels, the requirements of strong load ability, light weight, and high speed are constantly put forward. Flexible manipulators with full consideration of component flexibility have become the research object of many researchers. By studying the structural characteristics of flexible manipulators, it is found that they are typically underactuated and nonlinear systems [6–15]. The control for underactuated systems [16] is challenging due to the lack of control inputs. Nowadays, there are many studies on underactuated systems, such as crane systems [17–20], translational oscillations with a rotational actu
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