In this paper, we consider the control design for manipulator handling a flexible payload in the presence of input constraints. The dynamics of the system is described by coupled ordinary differential equation and a partial differential equation. Considering actuators saturation, the proposed control law applies a smooth hyperbolic function to handle the effect of the input constraints. The asymptotic stability of the closed-loop system is proved by using semigroup theory and extended LaSalle' s Invariance Principle. Simulation results show that the proposed controller is effective.
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