Adaptive network based interval type-2 fuzzy logic controller design for a single flexible link carrying a pendulum

In this study, a technique is proposed for dynamic modeling and adaptive network based interval type2 fuzzy logic (ANIT2FL) position, vibration and oscillation control of a single flexible link robot manipulator carrying a pendulum at the tip end. Simulation model for a single flexible manipulator carrying pendulum system is designed as an observer to determine motion of flexible link and uncertain oscillation of pendulum before experimental works. The performance of the proposed controller is evaluated on the basis of the experimental results.