An intelligent control method for a flexible-link manipulator with uncertain backlash and model uncertainty
Shenghan Guo,
Weiguo Cai,
Yaning Zhang
et al.
Abstract:This study examines a new intelligent control method for a single-link flexible manipulator that addresses backlash and model uncertainty. First, a smooth backlash inverse model is constructed to mitigate backlash nonlinearity. Subsequently, a "disturbance-like" term is formulated to recharacterize the coupled term composed of external disturbances and model uncertainty. A new adaptive controller is proposed to compensate for the unknown "disturbance-like" term. Using the proposed control method, the stability… Show more
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