Iterative learning control of a single-link flexible manipulator based on an identified adaptive NARX model

Abstract

In this paper an iterative learning controller (ILC) is designed based on the identified model of a single-link flexible manipulator (SLFM). As the system is nonlinear and time-varying so to meet the demands of the control system design, an adaptive nonlinear autoregressive with exogenous input (NARX) model is identified using the input/output experimental data. Tuning of the ILC controller is carried out using least square method. Simulation results demonstrate the potential of the NARX model based ILC controller for precise rotation tracking of a single-link flexible manipulator with suppressing link vibration.