Anti-Windup for Two-Link Flexible Arms with Actuator Saturation Using Neural Network

Anti-windup saturation compensation schemes in two-link flexible arms are studied. The singular perturbation approach is used to decompose the nonlinear system into a rigid subsystem and a fast subsystem, which allows a composite control design for the original system. A neural network is designed to compensate the saturation nonlinear in rigid subsystem, and a robust controller is employed to attenuate the vibration in fast subsystem. On-line weights tuning law is derived and guaranteed based on Lyapunov approach. Simulation results show the effectiveness of the proposed technique.