The Vibration Control of Flexible Manipulator using A Reference Trajectory Command and Multi Fuzzy Controller

A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in singleflexible manipulator. In this paper, an existing model for a single flexible manipulator is used for the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and a second FLC is designed to attenuate the tip deflection which result from joint beam. This Paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined multi fuzzy controller. The effectiveness of proposed scheme is demonstrated through computer simulation.