| This thesis discusses a means of adaptively suppressing the tip vibrations while controlling the end-point position of a single-link flexible manipulator. The necessary adaptation is achieved through the use of the Fuzzy Model Reference Self-Tuning Control (FMRSTC) algorithm. The FMRSTC functions primarily by enhancing or diminishing the control action generated by its internal Fuzzy Logic Controller, through manipulation of the output scaling gain. Previous to this work, the acceptable practice of obtaining scaling gain settings was a matter of trial and error. Such random manipulation of scaling gains cannot possibly cope, in real-time, should any dynamic changes in flexible arm parameters occur. Thus the FMRSTC provides both adaptation capabilities with the added bonus of automatically manipulating the output scaling gain of the controller.; In the process of implementing a FMRSTC control algorithm, this thesis also discusses some of the advantages and disadvantages of adapting the output scaling gain of a basic Fuzzy Logic Controller in order to ensure tip-tracking and vibration suppression of a single-link flexible robotic arm. |
