Experimental results on discrete-time nonlinear adaptive tracking control of a single-link flexible manipulator

The goal of the paper is to present experimental results on an adaptive tracking control strategy for a single-link flexible manipulator. The controller is designed based on the discrete-time nonlinear adaptive feedback linearization technique developed by the authors (1997) and later applied to a flexible link manipulator. The experimental results are compared with those of nonadaptive feedback linearization and conventional PD controller strategies. The results reveal that the adaptively controlled closed-loop system performance is improved compared to the nonadaptive feedback linearization and PD control schemes