Amin Riad Maouche

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This paper deals with the problem of controlling flexible link manipulators on the dynamic phase of the trajectory. A fast adaptive control of a two-link flexible manipulator is achieved to overcome both structured and unstructured uncertainties. First, a neural network controller based on the robot's dynamic equation of motion is elaborated. Its aim is to(More)
This paper describes a hybrid approach to the problem of controlling flexible link manipulators in the face of both structured and unstructured uncertainties. First, a nonlinear controller based on the equations of motion of the robot is elaborated. Its aim is to produce a stable control. Then, an adaptive RBF neural controller is implemented to compensate(More)
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