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An investigation of fuzzy logic control of flexible robots
Yueh-Jaw Lin, Tian-Soon Lee
Journal:

Robotica / Volume 11 / Issue 4 / July 1993

Published online by Cambridge University Press:

09 March 2009, pp. 363-372
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In this paper a control law, which consists of a fuzzy logic controller plus a nonlinear effects negotiator for a flexible robot manipulator, is presented. The nonlinear effects negotiator is used to enhence the control system's ability in dealing with the uncertainty of the mathematical model. The control algorithm is simple and easy to tune as opposed to conventional control law which requires time consuming gains selections. To obtain fuzzy control rules, an error response plane method is proposed.