Robust trajectory tracking control of a two-link flexible manipulator

Abstract

Based on the multitime scale-mutiparameter singular perturbation method, a robust control strategy for the trajectory tracking control of a two-link flexible manipulator is proposed. The model of the manipulator is first represented in a singularly perturbed uncertain form and is further decomposed into three uncertain subsystems by employing multitime scale-mutiparameter singular perturbation method. While a robust trajectory tracking controller is designed for the slow subsystem by using the well-known Lyapunov based theory of guaranteed stability of uncertain systems, a robust pole assignment technique is developed for the controller design of the two fast subsystems. A composite controller, formed as the sum of these three controllers, is obtained for the considered manipulator. Simulation results show that the obtained controller is robust against payload variations.