PDE Modeling and Control of a Flexible Two-Link Manipulator

摘要

A partial differentia! equation (PDE) model for a flexible two-link manipulator is derived and transformed to a form appropriate for the development of stable control designs. Stable control of this nonlinear infinite dimensional two-link system is then achieved by a novel control design developed using passivity and Lyapunov-based methods. A two-link hardware experimental setup is used to validate the analytical PDE model and the proposed stable control design scheme.