Neuro-based adaptive torque control of a flexible arm

This paper presents a neuro-based adaptive control (NBAC) for torque control of a flexible arm with structural uncertainties. In the NBAC, a neural net (NN) is connected in parallel with a linearized plant model, so that the NN is expected to identify the uncertainties included in the plant. The NN works as an adaptive controller simultaneously that can compensate for the uncertainties. The NBAC is applied to the torque control of a flexible arm that includes linear and nonlinear uncertainties. Experimental results illustrate effectiveness and applicability of the NBAC.