Adaptive energy-based controllers for a two link flexible manipulator under gravity

In this article, two adaptive, energy-based controllers are presented for regulation problem of planar two link flexible manipulator rotating in vertical plane under gravity. The first controller consists of a joint PD controller, an adaptive proportional controller which makes use of link curvature to suppress vibration and gravity compensation term. In second one a Lyapunov-based PD controller substitutes the joint PD. the effectiveness of the proposed controllers are shown and compared in the simulation results.

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