An intelligent control method for a flexible-link manipulator with uncertain backlash and model uncertainty

Abstract

This study examines a new intelligent control method for a single-link flexible manipulator that addresses backlash and model uncertainty. First, a smooth backlash inverse model is constructed to mitigate backlash nonlinearity. Subsequently, a ‘disturbance-like’ term is formulated to recharacterize the coupled term composed of external disturbances and model uncertainty. A new adaptive controller is proposed to compensate for the unknown ‘disturbance-like’ term. Using the proposed control method, the stability of the system is evaluated using the direct Lyapunov theory, ensuring uniform ultimate boundedness. Finally, numerical simulations and experiments are conducted using the Quanser platform. The numerical simulation and experimental results show that the proposed control can ensure a faster convergence rate and effectively reduce actuator input chattering.