Trajectory tracking control of two-link flexible manipulator

摘要

In this paper, a robust control scheme of trajectory tracking for two-link flexible manipulator is proposed. Based on the assumed mode method and singular perturbation method, the dynamics equation of two-link flexible manipulator system is developed, and the system is divided into fast sub-system and slow sub-system. Considering the characters of flexible manipulator, compensated control for joint angle is present, and also the algorithm. Sliding mode vary structure control and H∞ control are adopted respectably in the two sub-system controller. The combined control obtained in this method can follow the trajectory accurately. A two-link flexible manipulator device is manufactured. Experiments results in the device are included to demonstrate the effectiveness of the method used in this paper.