Data-based fuzzy adaptive control for a flexible-link manipulator

Abstract

A flexible-link manipulator is a complex plant with high nonlinearity, and the equations of motion of a flexible-link manipulator have infinite dimensions. Hence, the control problems for a flexible-link manipulator are challenging tasks, seeking a control strategy which is independent of precise plant mathematical model is of practical meanings. In this paper a novel data-based fuzzy adaptive control strategy for a flexible-link manipulator is presented, and procedures for designing a fuzzy adaptive controller are described based on the collected experiment data. Good result is observed in the fuzzy adaptive control experiment of a flexible-link manipulator, the vibration suppression and precision positioning performance is achieved.