Intelligent Control of a Flexible Manipulator Using a Robust Controller

Abstract

This paper addresses the issues related to the design of robust controller using intelligent optimization algorithms for lightweight, one-link flexible manipulators working under dynamic environments and other uncertain influences. By selecting the controller coefficients properly using the intelligent genetic method, an improved robust controller design is developed to ensure robustness of manipulator control systems for varying payloads and other modeling uncertainties. Numeric simulation has been conducted and the results have demonstrated the effectiveness of the proposed method.