Synthetic tracking controller for robot manipulator with flexible joints, dynamics of executive motors and affect of disturbance based on radial basic function (RBF) neural network

This paper presents synthetic checking controller for robot manipulator with flexible joints, dynamics of executive motors and affect of disturbance based on radial basic function (RBF) neural network. A control algorithm is synthesized basing on the combination of backsteppping and RBF neural network in order to approximate the unknown functions. Finally, simulation results of a manipulator robot with single flexible joints based on Matlab-Simulink are presented to demonstrate the effectiveness of the proposed control algorithms.