Vibration Control of a Flexible Robotic Manipulator in the Presence of Input Deadzone

In this paper, a neural network (NN) controller is designed to suppress the vibration of a flexible robotic manipulator system with input deadzone. The NN aims to approximate the unknown robotic manipulator dynamics and eliminate the effects of input deadzone in the actuators. In order to describe the system more accurately, the model of the flexible manipulator is constructed based on the lumping spring-mass method. Full state feedback NN...