TY - GEN
T1 - Optimal nonlinear control of two-link flexible arm with adaptive internal model
AU - Dog̃an, Mustafa
AU - Istefanopulos, Yorgo
PY - 2005
Y1 - 2005
N2 - The control of highly nonlinear multi-link flexible 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 challenging 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 controller is optimized with a new evolutionary algorithm.
AB - The control of highly nonlinear multi-link flexible 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 challenging 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 controller is optimized with a new evolutionary algorithm.
UR - https://www.scopus.com/pages/publications/33847303591
U2 - 10.1109/CDC.2005.1582250
DO - 10.1109/CDC.2005.1582250
M3 - Conference contribution
AN - SCOPUS:33847303591
SN - 0780395689
SN - 9780780395688
T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
SP - 771
EP - 776
BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
T2 - 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Y2 - 12 December 2005 through 15 December 2005
ER -