Robust control for flexible robotic manipulators

摘要

A simple robust control scheme is presented for the motion trajectory control of flexible robotic manipulators under considering dynamic uncertainty of the controlled system and realization of controller. In contrast to the traditional method the scheme simulates sufficiently human intelligent behaviour in the course of control. Thus a new controller design method, self-supported control which is model-free, is established. The effectiveness of this control scheme is demonstrated through simulation for the two-link flexible manipulator.