{'fraction_non_alphanumeric': 0.01855287569573284, 'fraction_numerical': 0.0, 'mean_word_length': 5.352941176470588, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Fuzzy lyapunov synthesis-based controller for a flexible manipulator: experimental results

The problem of tracking control of a flexible-link manipulator is considered. The controller is based on the fuzzy Lyapunov synthesis (FLS) and assumes no a priori knowledge about the system dynamics, except for some structural properties of the model. Some important issues regarding the application of the FLS to nonminimum-phase systems are discussed. An experimental study shows the effectiveness of the FLS compared with a joint PD controller