Nonlinear control of two-link flexible arm with adaptive internal model

Developing nonlinear adaptive and robust controller for two-link flexible robot arm is the main objective of this research. The dynamic state feedback controller is used to achieve robust regulation of the rigid modes as well as suppression of elastic vibrations. Modelling of highly nonlinear multi-link flexible arms is subject to uncertainties such that imperfect modelling, backlash, payload changes and external disturbances. Therefore, adaptive control of multi-link flexible arms is a challenging problem. In this paper, the internal model approach is adaptively tuned up for unknown disturbances, parallel with the robust stabilizer.