Inversion-Based Nonlinear End-Tip Control of Flexible Arm in Presence of Large Model Uncertainties

Abstract

Achieving suitable performance in end-tip trajectory tracking while saving suitable margin of stability for flexible-arm system in presence of large model uncertainties is a very complicated task, because moving new output toward the end-tip, while using output-redefinition method, in order to increase tracking quality decreases system's margin of stability. So large model uncertainties or large controller gains causes the system to leave the local region of stable internal dynamics. In this paper, power limiter system (PLS) is combined with time-delay controller (TDC) to guarantee stability of system in presence of large unstructured model uncertainties. The proposed controller is also compared with indirect adaptive linearizing controller