NN robust based-PID Control of A Two-Link Flexible Robot Manipulator

Moh. Khairudin, . Sudiyatno, Fatkhul Arifin


This paper presents control of a two-link flexible robot manipulator. A planar two-link flexible manipulator that moves in the horizontal plane is considered. A dynamic model of the system is developed using an assumed mode methods. The NN robust based-PID controller is used to reduce a nonlinearities problem that can be efficiently solved. The system responses namely hub angular position, deflection and end-point acceleration responses at both links are obtained and analysed.


assumed mode; modelling; two-link flexible robot manipulator

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DOI: http://dx.doi.org/10.18517/ijaseit.2.1.144


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Published by INSIGHT - Indonesian Society for Knowledge and Human Development