Tip-Tracking Control of Flexible Manipulators: Adaptive Strategies and BELBIC

Flexible-link manipulators (FLMs) deliver a high payload-to-weight ratio, low energy consumption and safer human-robot interaction, but at the price of distributed-parameter dynamics, structural vibration and, in the single-actuator configuration, a non-minimum-phase tip response. Tip tracking - forcing the end-point rather than the hub to follow a prescribed trajectory - is therefore among the harder benchmark problems in mechatronics. This paper reviews the problem along three connected axes: the dynamic models on which controllers are built (assumed mode, finite element and distributed PDE formulations, together with gravity, friction, terminal load, cable augmentation, actuator dynamics, dead zone and backlash); the adaptive and intelligent control strategies developed for it (output-redefined adaptive robust control with semi-active damping, barrier-Lyapunov-function design under input and state constraints, adaptive inverse backlash compensation, RBF neural compensation, time-varying sliding-mode control, and deep-reinforcement-learning motion planning coupled to a nonlinear PDE controller); and the Brain Emotional Leaming-Based Intelligent Controller (BELBIC), whose model-free structure, very small parameter set and low computational burden suit real-time vibration-aware control. The BELBIC line is examined in depth - computational model, Lyapunov-based stability analysis, universal-approximation generalization, hybridization with PID and sliding-mode control, and data-driven tuning. A comparative synthesis identifies the outstanding gap: a BELBIC-based tip-tracking law for a multi-mode, non-minimum-phase FLM, carrying an explicit stability certificate and experimental validation, has not yet been reported. A research agenda is proposed accordingly.

کلیدواژه ها:

Flexible-link manipulator ، Tip-tracking control ، vibration suppression ، Adaptive control ، BELBIC