ROBUST TRAJECTORY TRACKING CONTROL OF ATWO-LINK FLEXIBLE MANIPULATOR

摘要

Based on the multitime scale-mutiparameter singular perturbation method, a robust control strategyfor the trajectory tracking control of a two-link flexible manipulator is proposed. The model of themanipulator is first represented in a singularly perturbed uncertain form and is further decomposedinto three uncertain subsystems by employing multitime scale-mutiparameter singular perturbationmethod. While a robust trajectory tracking controller is designed for the slow subsystem by using thewell-known Lyapunov based theory of guaranteed stability of uncertain systems, a robust poleassignment technique is developed for the controller design of the two fast subsystems. A compositecontroller, formed as the sum of these three controllers, is obtained for the considered manipulator.Simulation results show that the obtained controller is robust against payload variations.