Optimal nonlinear control of two-link flexible arm with adaptive internal model
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CitationDoğan, M. & Istefanopulos, Y. (2005). Optimal nonlinear control of two-link flexible arm with adaptive internal model. Paper presented at the 771-776. doi:10.1109/CDC.2005.1582250
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.
SourceProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
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