Amin Riad Maouche

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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)
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 dynamic phase of the trajectory. A flexible beam/arm is an appealing option for civil and military applications, such as space-based robot manipulators. However, flexibility brings with it unwanted oscillations and severe chattering which may even lead to(More)
This article describes a hybrid control strategy to deal with the problem of controlling flexible link manipulators. The motion control of a planar manipulator with two flexible arms is studied. Dynamics is developed in Lagrange’s formulation. A novel control system structure is proposed to control the joint position and velocity as well as the deflection(More)
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