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Browse Conference Publications > Decision and Control, 2005 an ... Help

Optimal Nonlinear Control of Two-Link Flexible Arm with Adaptive Internal Model

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2 Author(s)
Dogan, M. ; Department of Electrical and Electronics Engineering Bog̃aziç, Baṡkent University, Turkey ; Istefanopulos, Y.

The control of highly nonlinear multi-link fleible 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 challeng- ing 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 con- troller is optimized with a new evolutionary algorithm.

Published in:
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on

Date of Conference: 12-15 Dec. 2005

Page(s):
771 - 776
Print ISBN:
0-7803-9567-0
Digital Object Identifier :
10.1109/CDC.2005.1582250
Product Type:
Conference Publications

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