Hybrid Concepts of the Control and Anti-Control of Flexible Joint Manipulator

Document Type: Original Article


1 University of Tehran

2 Islamic Azad University Science and Research Branch

3 K.N. Toosi University of Technology


This paper presents a Gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. The adaptation laws of designed controller are obtained based on sliding mode control methodology without calculating the Jacobian of the flexible joint system. Also in this study, the anti-control is applied to reduce the deflection angle of flexible joint system. To achieve this goal, the chaos dynamic must be created in the flexible joint system. So, the flexible joint system has been synchronized to chaotic gyroscope system. In this study, control and anti-control concepts are applied to achieve the high quality performance of flexible joint system. It is tried to design a controller which is capable to satisfy the control and anti- control aims. The performances of the proposed control are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, the efficacy of the proposed method is validated through experimentation on QUANSER’s flexible-joint manipulator.


M. W. Spong and M. Vidyasagar, “Robot Dynamics and Control”, New York: Wiley, 1989.

S. E. Talole, J. P. Kolhe, S. B. Phadke, “Extended-StateObserver-Based Control of Flexible-Joint System With Experimental Validation”, IEEE Trans on Industerial Electronics, Vol. 57, No. 4, pp. 1411-1419, 2010.

F. M. Botsali, M. kalyancu, M. Tinkir, U. Onen, " Fuzzy Logic Trajectory Control of Flexible Robot Manipulator With Rotating Prismatic Joint”, 2nd international Conference on computer and automation engineering (ICCAE), pp.35-39, 2010.

M. A. Ahmad, “Vibration and Input Tracking Control of Flexible Manipulator using LQR with Non-collocated PID controller”, Proceeding of 2nd UKSIM European Symposium on Computer Modelling and Simulation, pp. 40-45, 2008.

W.Yim, “Adaptive Control of a Flexible Joint Manipulator”, IEEE International conference on Robotics and Automation, pp. pp. 3441–3446., 2001.

J. H. Oh, J.S. Lee, “Control of Flexible Joint Robot System by Backstepping Design Approach”, IEEE International Conference on Robotics and Automation, Vol.4, pp. 3435-3440, 1997.

F. Ghorbel, J. Y. Hung, M.W.Spong, “Adaptive Control of Flexible Joint Manipulators”, Control Systems Magazine, Vol. 9, pp. 9-13, 1989.

L.C. Lin, K.Yuan, “Control of Flexible Joint Robots via External Linearization Approach”, Journal of Robotic Systems, Vol. 1 No.1, pp. 1-22, 2007.

M. W. Spong, K. Khorasani, P. V. Kokotovic, “An Integral Manifold Approach to the Feedback Control of Flexible Joint Robots”, IEEE Journal of Robotics and Automation, Vol. 3, No. 4, pp. 291-300, 1987.

P. Tomei, “A Simple PD Controller for Robots with Elastic Joints”, IEEE Trans on Automatic Control, Vol. 36, No. 10, pp. 1208-1213, 1991.

J. S. Yeon, J. H. Park, “Practical Robust Control for Flexible Joint Robot Manipulators”, IEEE International Conference on Robotic and Automation, pp. 3377-3382. 2008.

M. A. Ahmad, R. M. T. Raja Ismail, M. S. Ramli and M. A. Zawawi, “Elastic Joint Control using Non-collocated Fuzzy and Filtering Scheme: A Comparative Assessment”, 4th Asia International Conference on Mathematical/Analytical Modelling and Computer Simulation, pp: 366-371, 2010.

M. A. Ahmad, M.H. Suid, M. S. Ramli, M. A. Zawawi, R. M. T. Raja Ismail, “PD Fuzzy Logic with Non-collocated PID Approach for Vibration Control of Flexible Joint Manipulator”, 6th International Colloquium on Signal Processing & Its Applications (CSPA), 2010.

A. Jnifene,W. Andrews, “Experimental Study on Active Vibration Control of a Single-Link Flexible Manipulator Using Tools of Fuzzy Logic and Neural Networks”, IEEE Trans on Instrumentation and measurement, Vol. 54, NO. 3, pp.1200-1208, 2005.

M. A. Ahmad, R. M. T. Raja Ismail, M. S. Ramli, M. A. Zawawi, N. Hambali, and N. M. Abd. Ghani, “Vibration Control of Flexible Joint Manipulator using Input Shaping with PD-type Fuzzy Logic Control”, IEEE International Symposium on Industrial Electronics (ISlE 2009), pp.1184- 1189, 2009.

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, “Optimal Control with Input Shaping for Input Tracking and Vibration Suppression of a Flexible Joint Manipulator”, European Journal of Scientific Research, Vol. 28, No. 4, pp.583-599, 2009.

M.A. Ahmad, M.S. Ramli, R.M.T. Raja Ismail, N. Hambali, M.A. Zawawi, “The investigations of input shaping with optimal state feedback for vibration control of a flexible joint manipulator”, Conference on Innovative Technologies in Intelligent Systems and Industrial Applications (CITISIA), pp.446-451, 2009.

F. Farivar, M. Aliyari Shoorehdeli, M. A. Nekoui, M. Teshnehlab, “Sliding Mode Control of Flexible Joint Using Gaussian Radial Basis Function Neural Networks”, International Conference on Computer and Electrical Engineering’08, pp.856 – 860, 2008.

S. Ozgoli, H.D. Taghirad, “Design of Composite Control For Flexible Joint Robots With Saturating Actuators”, 5th Iranian Conference on Fuzzy Systems, pp.75-82, 2004.

H. Chaoui, P. Sicard, A. Lakhsasi, “Reference model supervisoryloop for neural network based adaptive control of a flexible joint with hard nonlinearities”, IEEE Canadian Conference on Electrical and Computer Engineering, vol. 4, pp. 2029–2034, 2004.

D. Hui, S. Fuchun, S. Zengqi, “Observer-based adaptive controller design of flexible manipulators using time-delay neuro-fuzzy networks”. J. Intell. Robot. Syst.: Theory and Applications, Vol. 34, No. 4, pp. 453–466, 2002.

B. Subudhi, A.Morris, “Singular perturbation based neuroh infinity control scheme for a manipulator with flexible links and joints. Robotica Vol. 24, No. 2, pp. 151–161, 2006.

“Quanser Student Handout, Rotary Flexible Joint Module”. http://www.quanser.com

G.Chen and X.Dong, “From chaos to order: perspectives, methodologies and applications”, Singapore, World Scientific, 1988.

L. M. Pecora, T. L. Carroll, “Synchronization in chaotic systems”, Physics Review Letter, Vol.64, pp.821–4, 1990.

J. Yan, C. Li, “Generalized projective synchronization of a unified chaotic system”, Journal of Chaos, Solitons and Fractals, Vol.26, pp.1119–24, 2005.

J. P. Yan, C. P. Li, “Generalized projective synchronization for the chaotic Lorenz system and the chaotic Chen system”, J Shanghai Univ, Vol.10, pp299, 2006.

F. Farivar, M. Aliyari Shoorehdeli, M. A. Nekoui, M. Teshnehlab, “Generalized projective synchronization for chaotic systems via Gaussian Radial Basis Adaptive Backstepping Control”, Journal of Chaos, Solitons and Fractals ,Vol. 42, pp.826–839, 2009.

H. K. Chen, “Chaos and chaos synchronization of a symmetric gyro with linear-plus-cubic damping”, Journal of Sound and Vibration, Vol. 255, pp.719–740, 2002.

JE. Slotine, W. Li. “Applied nonlinear control”, New Jersey: Prentice-Hall, Englewood Cliffs, 1991.