An adaptive iterative learning algorithm for boundary control of a coupled ODE–PDE two-link rigid–flexible manipulator

Abstract

To perform repetitive tasks, this paper proposes an adaptive boundary iterative learning control (ILC) scheme for a two-link rigid–flexible manipulator with parametric uncertainties. Using Hamilton׳s principle, the coupled ordinary differential equation and partial differential equation (ODE–PDE) dynamic model of the system is established. In order to drive the joints to follow desired trajectory and eliminate deformation of flexible beam simultaneously, boundary control strategy is added based on the conventional joints torque control. The adaptive iterative learning algorithm for boundary control scheme includes a proportional-derivative (PD) feedback structure and an iterative term. This novel controller is designed to deal with the unmodeled dynamics and other unknown external disturbances. Numerical simulations are provided to verify the performance of proposed controller in MATLAB.