Vibration Control of a Flexible Robotic Manipulator in the Presence of Input Deadzone

@article{He2017VibrationCO,
  title={Vibration Control of a Flexible Robotic Manipulator in the Presence of Input Deadzone},
  author={Wei He and Yuncheng Ouyang and Jie Hong},
  journal={IEEE Transactions on Industrial Informatics},
  year={2017},
  volume={13},
  pages={48-59}
}
In this paper, a neural network (NN) controller is designed to suppress the vibration of a flexible robotic manipulator system with input deadzone. The NN aims to approximate the unknown robotic manipulator dynamics and eliminate the effects of input deadzone in the actuators. In order to describe the system more accurately, the model of the flexible manipulator is constructed based on the lumping spring-mass method. Full state feedback NN control is proposed first and output feedback NN… CONTINUE READING
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Active vibration control for a flexible string system with input backlash

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