Adaptive controller design for two-link flexible manipulator

Rasheedat Modupe Mahamood*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

2 Citations (Scopus)


Flexible Link Manipulator Systems (FLMs) have numerous advantages when compared to the rigid link manipulator such as their light weight, ease of manipulation, low energy consumption, faster manipulation and so on. Controlling such system poses many difficulties due to the distributed nature of the system. In this chapter, direct adaptive control is designed based on a hybrid Proportional Integral Derivative (PID) control system for two-link flexible manipulator. The adaptive control algorithm is simple with less computational load and also very efficient. The control law is tested in Matlab/Simulink environment. The effectiveness of the proposed controller is studied with step input signal and square wave input signal, white noise disturbance, and sine wave disturbance. The results show that the proposed adaptive control law is effective and robust to the disturbances. The results are presented and discussed in detail.

Original languageEnglish
Title of host publicationIAENG Transactions on Engineering Technologies
Subtitle of host publicationSpecial Issue of the World Congress on Engineering and Computer Science 2012
Place of PublicationDordrecht, Netherlands
Number of pages14
ISBN (Electronic)9789400768185
ISBN (Print)9789400768178, 9789402401554
Publication statusPublished - 12 Sept 2013
Externally publishedYes
EventWorld Congress on Engineering and Computer Science, WCECS 2012 - San Francisco, CA, United States
Duration: 24 Oct 201226 Oct 2012

Publication series

NameLecture Notes in Electrical Engineering
Volume247 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


ConferenceWorld Congress on Engineering and Computer Science, WCECS 2012
Country/TerritoryUnited States
CitySan Francisco, CA

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