Abstract

The objective of this paper is to develop a novel tip position control scheme based on an exact model for a two link flexible manipulator with all joints revolute. We assume that each link of the flexible manipulator is a uniform Euler-Bernoulli beam with Kelvin-Voigt damping. The exact model that is described by a set of ordinary and partial differential equations is derived by using Hamilton's principle. An output feedback strategy is developed based on potential energy shaping and dynamic extension. We prove that the controller locally stabilize the closed loop system by considering an invariant level set.

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