Vibration Control of a Flexible Robotic Manipulator in the Presence of Input Deadzone

In this paper, a neural network (NN) controller is designed to suppress the vibration of a flexible robotic manipulator system with input deadzone. The NN aims to approximate the unknown robotic manipulator dynamics and eliminate the effects of input deadzone in the actuators. In order to describe t...

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Bibliographic Details
Published in:	IEEE transactions on industrial informatics Vol. 13; no. 1; pp. 48 - 59
Main Authors:	He, Wei, Ouyang, Yuncheng, Hong, Jie
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01-02-2017 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Actuators Adaptive Control Approximation Artificial neural networks Computer simulation Control systems design Controllers Feedback control Flexible manipulators flexible robotic manipulator input deadzone Liapunov direct method Lumping Manipulators Mathematical model Neural networks Nonlinear systems Output feedback Proportional derivative Radial basis function Robot arms Robotics Stability analysis State feedback Trajectory analysis Vibration control
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