The invention discloses an
intelligent control method for the predetermined precision positioning of a flexible
manipulator, which is characterized by comprising the following steps: 1) setting the parameters of the controller and the precision range of the
tracking error [‑δ 1 ,δ 1 ]; 2) Obtain the angle q of the single-link flexible
manipulator link according to the sensor 1 and the angle q of the
motor shaft 2 , calculate the
angular velocity of the single-link flexible
manipulator link and the
angular velocity of the
motor shaft and the
state variable x 1 ,x 2 ,x 3 ,x 4 ; 3) Combine the
state variable x 1 ,x 2 ,x 3 ,x 4 and the desired trajectory y m (t) and its derivatives, calculate the input vector ξ(t) of the
fuzzy logic system; 4) Apply the input vector ξ(t) to the
fuzzy logic system, and sequentially calculate the
fuzzy membership function of the
fuzzy logic system, the fuzzy
basis function fuzzy
Basis function vector and extension function vector ψ(ξ(t)); 5) Combined with
state variable x 1 ,x 2 ,x 3 ,x 4 , the desired trajectory y m (t) and its derivatives and expansion function vector ψ(ξ(t)), iteratively calculate state error z,
intermediate variable ω, adaptive parameter θ and virtual controller α; 6) Combined with virtual controller α, calculate the single The input
signal u(t) of the link flexible manipulator; 7) The controller drives the single-link flexible manipulator to move according to the input
signal u(t), completes the trajectory tracking, and can perform strict convergence proof and stability analysis. Has good robustness and reliability.