Inverse Dynamics Based Fuzzy Logic Controller for a Single-Link Flexible Manipulator

Document Type

Conference Proceeding


This paper presents a novel method for an inverse dynamics based fuzzy logic controller (FLC) of a single-link flexible manipulator. The control action is distributed between two FLCs: a joint angle controller and a tip controller. A method for varying the ranges of the variables of the two controllers as a function of the motion parameters and the inverse dynamics of the system is presented. Simulation results show that the joint trajectory tracking is accomplished and the residual vibration of the flexible link is suppressed.


Control equipment; Control theory; Dynamics; Dynamics (Mechanics); Flexible manipulators; Fuzzy logic; Fuzzy systems; Manipulators (Mechanism); Mechanics


Acoustics, Dynamics, and Controls | Applied Mechanics | Controls and Control Theory | Mechanical Engineering


Conference Held: Orlando, Florida, USA, November 5 – 11, 2005


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