Adaptive Iterative Learning Vibration Control of a Two-Link Rigid-Flexible Manipulator with Endpoint Input Saturation

摘要

An adaptive iterative learning vibration control (AILVC) scheme is considered for a two-link rigid-flexible manipulator with endpoint input saturation. A PD-type AILVC law is designed for the coupled ordinary differential equation - partial differential equation dynamic model in the presence of time-varying disturbances and the distributed disturbance. Then, by utilizing the composite energy function approach and rigorous analysis, the tracking error is asymptotically guaranteed convergence to the angular position, and the vibration of the flexible link is suppressed simultaneously. Finally, the results of numerical simulations are given to demonstrate the validity of the proposed AILVC method.