In this paper, the n-dimensional discretized model of the two-link flexible manipulator is developed by the assumed mode method (AMM). Subsequently, based on the discretized dynamic model, both full-state feedback control and output feedback control are investigated to achieve the trajectory tracking and vibration suppression. In order to guarantee the stability strictly, uniform ultimate boundedness (UUB) of the closed-loop system is realized by the Lyapunov's stability. Furthermore, through appropriately choosing control parameters, the states of the system will converge to zero within a small neighborhood. Eventually, extensive simulations and experiments on the Quanser platform for a two-link robotic manipulator are carried out to demonstrate the feasibility of the proposed neural network controller.

中文翻译：

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假设模式法的两连杆柔性机器人的神经网络控制

本文采用假设模式法（AMM）建立了双链柔性机械臂的n维离散模型。随后，基于离散动态模型，研究了全状态反馈控制和输出反馈控制，以实现轨迹跟踪和振动抑制。为了严格保证稳定性，李雅普诺夫的稳定性实现了闭环系统的统一极限有界性。此外，通过适当地选择控制参数，所述系统的状态将一个小邻域内收敛到零。最终，在Quanser平台上对两连杆机器人操纵器进行了广泛的仿真和实验，以证明所提出的神经网络控制器的可行性。