Precise Automation of Rotary Flexible Link manipulator using Hybrid Input shaping with Single State Feedback Fuzzy Logic and Sliding Mode Controllers

Flexible link manipulators (FLM) are widely preferred in applications that require faster operation, high maneuverability, and less energy consumption. However, their flexibility is associated with undesired vibrations which makes accurate positioning challenging. As most of the existing controllers model-based, performances affected by uncertainties, often feedback all states. This such control challenging expensive. Interestingly, despite its poor position tracking, input shaping (ISC) proved to be effective oscillation suppression flexible structures. In this paper, precise automation FLM presented hybridizing an improved (iISC) a model-free fuzzy logic (FLC), model-based sliding mode (SMC). The single FLC, SMC were designed for while iISC provide tip deflection control. Three parameters FLM, namely, length, mass, spring stiffness used assess sensitivity controllers. With maximum velocity 94 deg/s r.m.s 0.33 deg, ISC+FLC has increased at least 77% FLC 64%. Thus, analyzes demonstrated iISC+FLC can measuring output only one state (position), not it cost-effective but also reduces complexity, computation time full-state