Abstract
Flexible manipulator is an eminently nonlinear and unstable system due to which the stability of this device is a matter of concern particularly when the system components have parametric uncertainty. The aim is to control its angular displacement and to minimize the vibration with the presence of uncertainty of the payload mass. The dynamic modelling of the system method is first represented, and then uncertain model is obtained which is based on Euler–Lagrangian considering the parametric uncertainty in the payload mass. The reference trajectory control, disturbance rejection and robust performance of flexible manipulator using H∞ are discussed in this paper. H∞ controller shows good transient response, disturbance rejection and robust stability.
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