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Bölüm: Işık University, Faculty of Engineering, Department of Electrical-Electronics Engineering × Konu: Adaptive control ×

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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.