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PERFORMANCE COMPARISON OF CONTROLLERS FOR FLEXIBLE LINK MANIPULATOR

S. Mallikarjunaiah, S. Narayana Reddy

This paper focuses on the end-point control of a single flexible link which rotates in the horizontal plane. The dynamic model is derived using a Lagrangian assumed modes method based on Euler–Bernoulli beam theory. Initially the system is modelled as a voltage-input model, and different controllers were applied to control the system. The position and trajectory control is performed by PID, LQR and ANFIS control methods for flexible link manipulator. The purpose of this study is to keep the rotate angle of the link at desired position and to eliminate the oscillation angle of end effectors. The position and trajectory control again is performed by advanced controllers like LQR control methods and ANFIS control methods for this system. The results were produced for mode 1 and mode 2 operation. The results of the ANFIS method and LQR method were compared with PID Controller method. The control blocks for flexible link manipulator are performed and compared on MATLAB – SIMULINK with respect various control parameters and integral errors for all controllers.