Mathematical modeling and fuzzy control of a flexible-link robot arm

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)73-93
Journal / PublicationMathematical and Computer Modelling
Issue number6
Publication statusPublished - Mar 1998
Externally publishedYes


In this paper, the Timoshenko theory is applied to investigate a new mathematical model for the 'shoulder-elbow-like' single flexible-link robot arm with dampings. Detailed analysis and derivation are given to support the mathematical modeling of this particular flexible mechanism. A new design of a fuzzy-logic-based (PI + D)2 control scheme is developed for both vibration suppression and set-point tracking. Computer simulation results for the modeling are perform to observe the significant vibration modes, and simulation results for the control scheme demonstrate that the controllers perform very well for the tracking based on this flexible-link model. A newly developed method for stability analysis using the 'two-straight-lines' criterion is also presented.

Research Area(s)

  • Flexible beam, Fuzzy control, PDE model, PID controller, Timoshenko theory