This article focuses on the output feedback control of single-link flexible-joint robot manipulators (SFJRMs) with matched disturbances and parametric uncertainties. Formally, four sensing elements are required to design the controller for single-link manipulators. We have designed a robust control technique for the semiglobal stabilization problem of the angular position of the link in the SFJRM system, with the availability of only a position sensing device. The sliding mode control (SMC) based output feedback controller is devised for SFJRM dynamics. The nonlinear model of SFJRM is considered to estimate the unknown states utilizing the high-gain observer (HGO). It is shown that the output under SMC using HGO-based estimated states coincides with that using original states when the gains of HGO are sufficiently high. Finally, the results are presented showing that the designed control technique works well when the SFJRM model is uncertain and matched perturbations are expected.

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In this paper, an artificial neural network (ANN)-based reduced order model (ROM) is developed for the hydrodynamics forces on an airfoil immersed in the flow field at different angles of attack. The proper orthogonal decomposition (POD) of the flow field data is employed to obtain pressure modes and the temporal coefficients. These temporal pressure coefficients are used to train the ANN using data from three different angles of attack. The trained network then takes the value of angle of attack (AOA) and past POD coefficients as an input and predicts the future temporal coefficients. We also decompose the surface pressure modes into lift and drag components. These surface pressure modes are then employed to calculate the pressure component of lift CLp and drag CDp coefficients. The train model is then tested on the in-sample data and out-of-sample data. The results show good agreement with the true numerical data, thus validating the neural network based model.

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