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Journal of Applied Sciences
  Year: 2009 | Volume: 9 | Issue: 4 | Page No.: 639-650
DOI: 10.3923/jas.2009.639.650
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Hybrid Control of Flexible Manipulator

F. Farivar, M. Aliyari Shoorehdeli, M. Teshnehlab and M.A. Nekoui

This study describes hybrid control methods to control a flexible manipulator with payload. The dynamic equation of the system has been derived by Lagrange`s method. The designed controllers consist of two parts, classical controllers, PID and Linear Quadratic Regulation (LQR) and hybrid controllers, Fuzzy Neural Network (FNN) controller with Feedback Error Learning (FEL) and Sliding mode control using Gaussian Radial Basis Function Neural Network (RBFNN). The fuzzy neural network and radial basis function neural network are trained during control process and they are not necessarily trained off-line.
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How to cite this article:

F. Farivar, M. Aliyari Shoorehdeli, M. Teshnehlab and M.A. Nekoui, 2009. Hybrid Control of Flexible Manipulator. Journal of Applied Sciences, 9: 639-650.

DOI: 10.3923/jas.2009.639.650






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