An Intelligent Controller For A Single Link Flexible Joint Manipulator

摘要

Flexible manipulators are extensively used in industries. A theoretical analysis of intelligent tracking controller based on emotional learning model in mammalians brain for single-link flexible-joint manipulator is presented. Brain emotional learning based intelligent controller (BELBIC) is an intelligent controller based on the model of emotional part of brain. In this paper, BELBIC is applied to control flexible manipulator system. The contribution of BELBIC in improving the control system performance is shown by in comparison with results obtained from robust controller. BELBIC control flexible manipulator system with Shorter Setting Time and Lower Control Signal than robust controller.