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Flexible-Link Manipulators: Dynamic Analysis and Advanced Control Strategies

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New Trends in Robot Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 270))

Abstract

This chapter contains advanced studies in dynamic modelling and nonlinear control strategies applied to flexible-link robotic manipulators increasingly in demand in many fields such as industrial domain, medical intervention, and space exploitation. Taking into consideration the flexibility effect, Hamilton’s principle and Euler–Lagrange equations are associated to determine a highly nonlinear and coupled dynamic model. Therefore, the main control goals are to reach a perfect trajectory tracking without vibration impact. That is why, PD, Fuzzy, and gain scheduling Fuzzy PD controllers are applied to a rigid-flexible two links manipulator and then compared in terms of robustness and vibration minimization. A stability study is accomplished using the candidate function of Lyapunov. To improve performances, a robust Fractional Order Fuzzy PD (FOFPD) controller is developed by using non-integer order differentiator operators in the fuzzy PD controller. The gains of the FOFPD are normalized with the Particle Swarm Optimization (PSO) algorithm. The small gain theorem is used to establish the sufficient condition for bounded input-bounded output (BIBO) stability in closed-loop. Simulation results are introduced for each case of control to discuss reached performances.

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Acknowledgements

This work was supported by the Ministry of the Higher Education and Scientific Research in Tunisia.

Author information

Authors and Affiliations

  1. Physics Department, Sciences Faculty of Sfax, University of Sfax, Sfax, Tunisia

    R. Boucetta

  2. MACS Laboratory, National Engineering School of Gabes, University of Gabes, Gabes, Tunisia

    S. Hamdi

  3. Preparatory Institute of Tunis El Manar, University of Tunis El Manar, Tunis, Tunisia

    S. Bel Hadj Ali

Authors
  1. R. Boucetta
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  2. S. Hamdi
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  3. S. Bel Hadj Ali
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Corresponding author

Correspondence to R. Boucetta .

Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, Sultan Qaboos University, Al Khoudh, Oman

    Jawhar Ghommam

  2. National School of Engineers of Sfax, University of Sfax, Sfax, Tunisia

    Nabil Derbel

  3. Department of Engineering Design and Mathematics, University of the West of England, Bristol, UK

    Quanmin Zhu

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Boucetta, R., Hamdi, S., Bel Hadj Ali, S. (2020). Flexible-Link Manipulators: Dynamic Analysis and Advanced Control Strategies. In: Ghommam, J., Derbel, N., Zhu, Q. (eds) New Trends in Robot Control. Studies in Systems, Decision and Control, vol 270. Springer, Singapore. https://doi.org/10.1007/978-981-15-1819-5_2

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