Fuzzy control of a single-link flexible robotic manipulator using assumed mode method

In this paper, the dynamic model of a singlelink flexible robotic manipulator developed with the assumed mode method (AMM) is investigated. Subsequently, we obtain a discretized model for the flexible manipulator system. Base on the dynamic model, fuzzy control are studied to achieve the control objectives. Aiming at ensuring stability rigorously, the closed-loop system is uniform ultimate boundedness (UUB) via the Lyapunovs stability. By appropriately choosing design parameters, the state of the system is proven to converge to zero with a small neighborhood. Eventually, Simulations for the flexible manipulator system are given to verify the effectiveness of the proposed fuzzy control strategy, and the final performance is compared with that of proportional derivative (PD) control strategy. The feasibility of the proposed control is verified.