Enhancing Trajectory Tracking and Vibration Control of Flexible Robots With Hybrid Fuzzy ADRC and Input Shaping

Abstract

Flexible robot systems are important in a variety of academic and industrial settings. Introducing innovative ideas for improving their performance is always valuable due to their wide range of practical applications. Compared to traditional methods, the utilization of soft computing techniques can improve the overall performance by predicting and optimizing the outcomes. This research proposes a hybrid control method that combines input shaping with fuzzy active disturbance rejection control for a flexible joint robotic manipulator with unknown perturbations and parametric uncertainties. The suggested algorithm’s control objective is to adapt and learn in different real-world scenarios to accurately follow the required trajectories while dampening the system’s vibrations. Overshoot is reduced, and reaction time is increased by employing an input shaping approach, while the extended state observer is built to handle unexpected perturbations and uncertainties in parameters. Additionally, fuzzy logic adjusts the linear feedback control law gains online to boost the control system’s dynamic capability. Compared with active disturbance rejection controller, interval type-2 fuzzy logic controller, input shaping-active disturbance rejection controller, modified linear active disturbance rejection controller, genetic algorithm-fuzzy logic controller, and fuzzy-tuned PID, the experimental results indicate that the hybrid input shaping enhanced fuzzy based active disturbance rejection controller control law is efficient and resilient. The advised controller achieves the highest robustness regarding position control, disturbance rejection, trajectory tracking, and parameter variation, which is superior to other hybrid controllers in most performance metrics. Rotary Flexible Joint Manipulator system is excellent at tracking and suppressing disturbances, despite uncertainties and nonlinearity of flexible joints.

Keywords

• Flexible robot
• intelligent control
• fuzzy ADRC
• input shaping
• disturbance rejection
• vibration dampening