Experimental Evaluation of Neural Network Based Controllers for Tracking the Tip Position of Flexible-Link

신경회로망을 이용한 유연한 관절의 선단위치 tracking 제어기에 관한 실험적 평가

This paper presents a neural network-based adaptive controller for a single flexible-link. The control for feedback-error loaming of neural network is designed by using the re-definition approach. The neural network controllers are implemented on an single flexible-link experimental test-bed. The tip response is significantly improved and the vibrations of the flexible modes are damped very fast. Experimental and simulation results are presented of the proposed tip position tracking controllers over the conventional PD-type, passive controllers.