Cloud Model-based Control of Flexible-Link Manipulators

A cloud model-based controller which needs no mathematical models of plant but human experience, sensation and logic decision is presented in this paper for the trajectory tracking control of a flexible-link manipulator with poorly known dynamics and simultaneous suppressing the tip an optical measurement device with position sensitive detectors (PSD). In the proposed control strategy, the control experience qualitatively expressed by linguistic is transformed into the control rulers through linguistic atoms and cloud models with normal representation. Experiment studies on the test-bed of a two-link flexible manipulator are carried out to show the robustness, viability and effectiveness of the proposed control approach