Işık Üniversitesi Kurumsal Akademik Belleği :: DSpace Angular

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Optimal nonlinear control of two-link flexible arm with adaptive internal model
(2005) Doğan, Mustafa; İstefanopulos, Yorgo
The control of highly nonlinear multi-link flexible arms is subject to uncertainties caused by backlash, payload changes and external disturbances.Therefore, adaptive and robust control of multi-link flexible arms is a challenging problem.In this paper, the internal model approach is adaptively tuned up for unknown disturbances, parallel with a robust stabilizer. The stabilizer part of the controller is optimized with a new evolutionary algorithm.