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Journal of Applied Sciences
  Year: 2009 | Volume: 9 | Issue: 7 | Page No.: 1258-1266
DOI: 10.3923/jas.2009.1258.1266
 
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Stable Direct Adaptive Control as Nonlinear Hybrid Controller for Flexible Manipulator

M. Naeimi, M. Teshnehlab, M. Aliyari Sh and M. Aliasghary

Abstract:
Stable direct adaptive control has been developed in this study to control the flexible motion of a single-link robotic manipulator. The controller has been designed based on a simplified model of the arm, which only accounts for the first elastic mode of the beam. The controller consists of three parts: linear feedback, a nonlinear sliding mode (SMC) and an adaptive Fuzzy-Neural Network (FNN) controller.
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How to cite this article:

M. Naeimi, M. Teshnehlab, M. Aliyari Sh and M. Aliasghary, 2009. Stable Direct Adaptive Control as Nonlinear Hybrid Controller for Flexible Manipulator. Journal of Applied Sciences, 9: 1258-1266.

DOI: 10.3923/jas.2009.1258.1266

URL: https://scialert.net/abstract/?doi=jas.2009.1258.1266

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