Combined adaptive neural network and regressor-based trajectory tracking control of flexible joint robots

Jorge Montoya-Cháirez, Javier Moreno-Valenzuela*, Víctor Santibáñez, Ricardo Carelli, Fracisco G. Rossomando, Ricardo Pérez-Alcocer

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


By relying on the input–output feedback linearization approach, a novel adaptive controller for flexible joint robots is proposed in this work. First, a model-based controller is developed to get a structure that is useful in the development of the adaptive controller. The adaptive version is developed by using two techniques. To stabilize the output function, an adaptive neural network controller is used, which approximates the non-linear function that contains the uncertainties. The desired rotor position required by the input–output feedback linearization controller is defined with the structure of a link dynamics adaptive regressor-based controller. The main reason to adopt the mentioned structure in the definition of the desired rotor link position is to guarantee its differentiability. Real-time experiment comparisons among the model-based controller, a model-based controller with desired compensation, an adaptive controller based on joint torque feedback, and an adaptive neural network-based controller are carried out. Experimental results support the theory reported in this document and the accuracy of the proposed approach.

Original languageEnglish
Pages (from-to)31-50
Number of pages20
JournalIET Control Theory and Applications
Issue number1
StatePublished - Jan 2022
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology


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