Neural network-based payload adaptive variable structure control of a flexible manipulator arm

Complexities in controller designs for flexible manipulators, mainly arising from the nonlinear vibrational dynamics, get further compounded when task executions are to be completed in the face of changing payloads. The development of a neural network-based scheme for adaptively implementing a variable structure controller (VSC) to drive a flexible manipulator arm is described in this paper. The controller design is novel and ensures a satisfactory suppression of the tip vibrations while facilitating a rapid hub rotation for executing motions during which payload variations can occur. An efficient integration of the operational strong features of a trained neural network and a VSC is made in the development of the overall control scheme