Robust Control of a Two-Link Flexible Manipulator with Quasi-Static Deflection Compensation Using Neural Networks

Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator

“…In [31], a robust control method of a two-link flexible manipulator with neural network. In [32], H∞ control is performed for LPV descriptor model with affine parametric dependence by using a linear fractional representation (LFR).…”

“…Moreover, they have nonlinearity and some uncertain parameters. Therefore, numerous researchers have investigated for the control of robotic manipulators in [28][29][30][31][32][33][34]. For instance, H∞ control and μ-synthesis are in [28,29,33].…”

Back-stepping control of two-link flexible manipulator based on an extended state observer

“…Based on the Lagrange assumed mode method under the condition on small deflection (Li et al, 2005), the dynamic equation of the two-link flexible manipulator is written as…”

Output Feedback Direct Adaptive Control for a Two-Link Flexible Robot Subject to Parameter Changes

“…It was claimed that their method can provide more physical insights in nonlinear control as well as provide a direct candidate for the Lyapunov function. Both simulation and experimental results were provided to demonstrate the effectiveness of the controllers A robust control method of a two-link flexible manipulator with neural networks based quasi-static distortion compensation was proposed in (Li et al, 2005). The dynamics equation of the flexible manipulator was divided into a slow subsystem and a fast subsystem based on the assumed mode method and singular perturbation theory.…”