Decoupling Control of the Two-link Flexible Manipulator

To compensate for the coupling force between the joints of the two-link manipulator, using the tip deflection measured by an optical measurement device with position sensitive detectors (PSD), a decoupling controller based on the cloud model is presented in this paper. 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. The Experiment studies on the test-bed of a two-link flexible manipulator are carried out to show the capability and effectiveness of the proposed approach.