Vibration Control Comparison Of A Single Link Flexible Manipulator Between Fuzzy Logic Control And Pole Placement Control

Abstract: Vibration is an unwanted phenomena and difficult to handle in the control of flexible manipulators and it becomes more difficult with increased in the payload values to the system. In this work two control schemes- fuzzy logic control and pole placement control are designed and compared for the control of both vibration and tip deflection which occurs during its operation as a result of both rigid-body motion and elastic (flexible) motion of a single link flexible manipulator. The fuzzy logic control scheme was designed with the joint angle error and its derivative as the input of the controller. By computing the control signal using the error and its derivative, the fuzzy controller add damping to the joint thereby controlling the vibration and tip deflection of the system. On the other hand, a model based pole placement control scheme was designed to place the system poles at a desired location based on design specification to overcome the vibration and achieve precise tip deflection of the flexible link. In both control scheme a MATLAB Simulink environment is used to investigate the effects of the controls and a comparison of the simulation results was conducted. Index Terms: Flexible manipulator, pole placement control, fuzzy logic control, vibration and tip deflection control