This paper proposes a composite controller (CC) to improve the accuracy of trajectory tracking and suppress vibration two-link underwater flexible manipulators. A dynamic model manipulators considering hydrodynamic force is established by combining Lagrange equation Morison formula. Then, divided into subsystem rigid subsystem, decomposed control strategy presented for two subsystems. In partic...

This paper represents an experimental study on the application of smart control represented by use fuzzy logic controller. Two-link flexible manipulators that are used in airspace and military applications made materials characterized low frequency damping ratio. To solve this problem, proposes (piezoelectric transducers), where each link is bonded with a pair piezoelectric transducers act as s...