Rotation Angle Control Strategy for Telescopic Flexible Manipulator Based on a Combination of Fuzzy Adjustment and RBF Neural Network

Chinese Journal of Mechanical Engineering

Table 4 Evaluation index of experimental error

Flexible manipulator’s length (m)	Control strategy	Means of errors	Means of absolute errors	Variance of errors	Standard deviation of errors
0.5	PD	0.0016	0.0355	0.0054	0.0734
	FC	0.0038	0.0226	0.0025	0.0501
	RNFNN+FC	0.0023	0.0151	0.0011	0.0377
1	PD	0.0024	0.0235	0.0091	0.0956
	FC	0.0053	0.0322	0.0040	0.0634
	RNFNN+FC	0.0018	0.0159	0.0017	0.0407
1.5	PD	0.0033	0.2359	0.0695	0.2636
	FC	0.0033	0.0173	0.0027	0.0516
	RNFNN+FC	0.0021	0.0157	0.0017	0.0415
2	PD	0.0013	0.2634	0.1044	0.3230
	FC	0.0034	0.2420	0.0773	0.2781
	RNFNN+FC	0.0029	0.0602	0.0324	0.1800