Control of under-actuated two-link ROBOT with hybrid LQ-fuzzy controller

This paper presents flexible two-link ROBOT arm control methodology using fuzzy logic controller with state-estimation arrangement. In order to drive the fast and slow subsystems, a singular perturbation scheme has been established, that also reduces spillover effect. The estimation based compensator damps out the noise/ vibration of the complex nonlinear system. Setpoint tracking is achieved by employing fuzzy logic controller (slow-subsystem). The simulation results of hybrid LQ-fuzzy controller provide robustness without increasing the order of the overall system. The proposed control scheme outperforms traditional control approaches such as PD, LQR or LQG solution.