Rule-based tuning for control of flexible-link manipulators

The authors summarize work on a two-level hierarchical control strategy to achieve accurate end-point position of a planar two-link flexible manipulator. The upper level in the hierarchy consists of a feedforward supervisory controller that incorporates fuzzy logic, whereas the lower level consists of conventional controllers using shaft and endpoint information. This hierarchical control strategy results in an improvement over the performance of current techniques for endpoint position control in the presence of flexure effects