Optimal Nonlinear Control of Two-Link Flexible Arm with Adaptive Internal Model

The control of highly nonlinear multi-link fleible arms is subject to uncertainties caused by backlash, payload changes and external disturbances. Therefore, adaptive and robust control of multi-link flexible arms is a challeng- ing problem. In this paper, the internal model approach is adaptively tuned up for unknown disturbances, parallel with a robust stabilizer. The stabilizer part of the con- troller is optimized with a new evolutionary algorithm.