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

  title={Inverse Dynamics Based Tuning of a Fuzzy Logic Controller for a Single-Link Flexible Manipulator},
  author={Jamil M. Renno},
Since its introduction to engineering applications, fuzzy logic has attracted many researchers because of its simplicity and robustness. Experience with a system is translated into heuristic rules which can be used to control that system. This article proposes a novel method for a generalized inverse dynamics based fuzzy logic controller (FLC) of a single-link flexible manipulator. The deflection of the flexible link was modeled using the assumed modes method. The control action is distributed… CONTINUE READING
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