Motion control of two-link flexible-joint robot, using backstepping, neural networks, and indirect method

Abstract

We present a state-feedback control of a two-link flexible-joint robot. The control algorithm does not require the mathematical model representing the robot. Three-layer neural networks approximate the unknown plant functions. The neural network weights are adapted on-line. We use backstepping control structure together with variable structure control to provide robustness to all uncertainties. We have included experimental results to show the effectiveness of the control algorithm