A control design for a flexible two-link system

摘要

This paper investigates a particular control strategy for a flexible two-link system. The objective is to control the tip position of the flexibl link to track a desired trajectory in the presence of system uncertainties. A nominal ARX model is developed for an experimental two-link setup. A neural network is used to model some of the uncertainties, and the network is then used in a particular control configuration. Preliminary resuolts from the study are presented.