$\mathscr{L}_{1}$ Adaptive Controller Design for Single-Link Flexible Joint Manipulator with Fuzzy-PID Filter

The robot manipulators controller design with flexible joint due to strong coupling, time-varying characteristics, and high nonlinearity is commonly a big challenge. There is unavoidable uncertainty dependent on their dynamics and kinematics, such that exact structures not be available for controller design. In this work, an L
₁
adaptive controller with a fuzzy-PID filter is proposed for the trajectory tracking and vibration control of a single-link manipulator system with flexible joint (SLMSFJ) with uncertainties and unknown nonlinear dynamics. Finally, the efficiency of the proposed structure is evaluated with simulation on SLMSFJ and compare with conventional L
₁
adaptive and MRAC.