On the adaptive control of robot manipulators
International Journal of Robotics Research
A singular perturbation approach to control of lightweight flexible manipulators
International Journal of Robotics Research
Automatica (Journal of IFAC)
Adaptive control of flexible joint manipulators: comments on two papers
Automatica (Journal of IFAC)
How to be a gray box: dynamic semi-physical modeling
Neural Networks
Static and Dynamic Neural Networks: From Fundamentals to Advanced Theory
Static and Dynamic Neural Networks: From Fundamentals to Advanced Theory
Robust Control Design with MATLAB® (Advanced Textbooks in Control and Signal Processing)
Robust Control Design with MATLAB® (Advanced Textbooks in Control and Signal Processing)
Control of a flexible manipulator with noncollocated feedback: time-domain passivity approach
IEEE Transactions on Robotics
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This article describes a hybrid control strategy to deal with the problem of controlling flexible link manipulators. The motion control of a planar manipulator with two flexible arms is studied. Dynamics is developed in Lagrange's formulation. A novel control system structure is proposed to control the joint position and velocity as well as the deflection of the tip for each arm. First, a non-linear control law based on the dynamic motion equation of the robot is presented and the stability analysis is studied. Then, an adaptive neural controller is implemented to compensate errors due to structured and unstructured uncertainties. Efficiency of the new controller obtained by combining the two control laws is tested facing an important variation of the dynamic parameters of the flexible manipulator and compared to the non-linear control taken solely. Simulation results show the effectiveness of the control strategy proposed.