Development of Neural Network Controller for A Two-Link Flexible Manipulator

摘要

This paper discusses a neural network (NN) control of a two-link flexible robot manipulator. The PID controller was formerly used to solve nonlinearities problem. One more efficient solution for nonlinearities problem is NN. An evaluation was conducted to assess the performances of the controller in the areas of the input tracking controller capability of the system compared to PID control. Furthermore, it is analyzed the robustness of the NN based on PID control schemes. The results showed that NN based on PID controller demonstrated better performance.