Rotation Angle Vibration Suppression for Variable Length flexible Manipulator Based on Neural Network Identification With Sliding Mode Controller

Rotation Angle Vibration Suppression for Variable Length flexible Manipulator Based on Neural Network Identification With Sliding Mode Controller | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Rotation Angle Vibration Suppression for Variable Length flexible Manipulator Based on Neural Network Identification With Sliding Mode Controller Xiaopeng Li, Lai Wei, meng Yin, nan sai Zhou This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3703122/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 21 May, 2024 Read the published version in Journal of the Brazilian Society of Mechanical Sciences and Engineering → Version 1 posted 4 You are reading this latest preprint version Abstract The variable-length flexible manipulator has an impact on the flexibility of joints and the flexibility load, in which vibration at the angle of rotation will occur. To suppress the vibration, a control law combining neural network identification, sliding mode control and angle-independent method is presented. To begin with, the variable-length flexible manipulator dynamic equations are established considering friction torque and two-dimensional deformation. Then, An adaptive law for the neural network weight coefficients is devised using the Lyapunov stability theorem .At last, the simulated analysis and controlled experiments are performed. The experimental finding demonstrates this: The control accuracy of rotation angle can be improved by using neural network compensation for the uncertain part. The flexible load vibration can be suppressed by the angle-independent method. The mean absolute error of rotation angle can be decrease by 15.85% using the combination control strategy. This proves that the control strategy presented can effectually. flexible manipulator neural network identification sliding mode control vibration suppression. Full Text Cite Share Download PDF Status: Published Journal Publication published 21 May, 2024 Read the published version in Journal of the Brazilian Society of Mechanical Sciences and Engineering → Version 1 posted Reviewers agreed at journal 28 Dec, 2023 Reviewers invited by journal 27 Dec, 2023 Editor assigned by journal 10 Dec, 2023 First submitted to journal 02 Dec, 2023 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3703122","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":263871187,"identity":"a87ce307-9a16-4489-b22e-0d6469dd3d3c","order_by":0,"name":"Xiaopeng Li","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAyElEQVRIiWNgGAWjYFAC5oYDH+AcNqK0MDYcnEGyFmYekrQY3G5sPGybY8Ngzt5jwPCh7DAD/+wG/Fok5xxsOJy7LY3BsueMAeOMc4cZJO4cwK+FXyIRpOUwg8GNHANm3jYgQyIBvxY2kBbLbf8ZDO6/MWD+S4wWsC2M2w4AbeExYGYkRgvILwd7tyXzGJxJKzjYcy6dR+IGAS0Gt5sPf/i5zU7O4PjhjQ9+lFnL8c8goIVBAkKBo+YAjEGUllEwCkbBKBgFuAEAhRNDtlS5l/kAAAAASUVORK5CYII=","orcid":"https://orcid.org/0000-0003-4161-2727","institution":"Northeastern University","correspondingAuthor":true,"prefix":"","firstName":"Xiaopeng","middleName":"","lastName":"Li","suffix":""},{"id":263871188,"identity":"9218b287-b3c6-48aa-ab87-36de4be6fde7","order_by":1,"name":"Lai Wei","email":"","orcid":"","institution":"Northeastern University","correspondingAuthor":false,"prefix":"","firstName":"Lai","middleName":"","lastName":"Wei","suffix":""},{"id":263871189,"identity":"1edb7801-c330-4de0-951b-01a3333df2cb","order_by":2,"name":"meng Yin","email":"","orcid":"","institution":"Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences","correspondingAuthor":false,"prefix":"","firstName":"meng","middleName":"","lastName":"Yin","suffix":""},{"id":263871190,"identity":"c5cbb635-3929-4804-8a8c-f7dae4373cb7","order_by":3,"name":"nan sai Zhou","email":"","orcid":"","institution":"Northeastern University","correspondingAuthor":false,"prefix":"","firstName":"nan","middleName":"sai","lastName":"Zhou","suffix":""}],"badges":[],"createdAt":"2023-12-04 01:25:16","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-3703122/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-3703122/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1007/s40430-024-04924-9","type":"published","date":"2024-05-21T21:03:51+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":57374277,"identity":"be59d209-fbfb-4e6e-9d82-fadc3bf7bb5e","added_by":"auto","created_at":"2024-05-29 21:03:59","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":2625634,"visible":true,"origin":"","legend":"","description":"","filename":"manuscript20231203.pdf","url":"https://assets-eu.researchsquare.com/files/rs-3703122/v1_covered_74ce3a97-a446-4dcc-8eb5-bbed605f2b68.pdf"}],"financialInterests":"","formattedTitle":"Rotation Angle Vibration Suppression for Variable Length flexible Manipulator Based on Neural Network Identification With Sliding Mode Controller","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":true,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"journal-of-the-brazilian-society-of-mechanical-sciences-and-engineering","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"bmse","sideBox":"Learn more about [Journal of the Brazilian Society of Mechanical Sciences and Engineering](http://link.springer.com/journal/40430)","snPcode":"40430","submissionUrl":"https://www.editorialmanager.com/bmse/default2.aspx","title":"Journal of the Brazilian Society of Mechanical Sciences and Engineering","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"flexible manipulator, neural network identification, sliding mode control, vibration suppression.","lastPublishedDoi":"10.21203/rs.3.rs-3703122/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-3703122/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"The variable-length flexible manipulator has an impact on the flexibility of joints and the flexibility load, in which vibration at the angle of rotation will occur. 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