Modal control with intelligent tuning for a deployable manipulator

This paper focuses on the development and implementation of an intelligent hierarchical controller for the vibration control of a deployable manipulator. The emphasis is on the use of knowledge-based tuning of the low-level controller so as to improve the performance of the control system. For this purpose, first a fuzzy inference system (FIS) is developed. The FIS is then combined with a conventional modal controller to form a hierarchical control system. The effectiveness of this control system is investigated through numerical simulation studies. The results show that the knowledge-based hierarchical control system is very effective in suppressing vibrations induced due to initial disturbances at the flexible revolute joint or maneuver of a deployable manipulator. Performance of the modal controller can be significantly improved through knowledge-based tuning.