Singular Perturbation Approach based Boundary Control of a Flexible Manipulator with High Gain Observer

Abstract

In this study, boundary control of a flexible manipulator is developed on the basis of the dynamic, partial differential equation (PDE) model. One of the main contributions is that the high gain observer is first applied to the PDE model of a flexible manipulator instead of measuring link velocity and end actuator velocity. In addition, using singular perturbation approach the PDE model is divided into two simpler subsystems to simplify the control design. Based on the proposed observer and decoupled PDE model, a sliding mode boundary control is designed to regulate angular position and suppress elastic vibration simultaneously. Numerical simulations demonstrate the effectiveness of the proposed scheme.