Trajectory Tracking in a Flexible Link Robot using a Higher Order Differential Feedback Controller

Abstract

Modelling challenges in flexible robotic systems complicate controller design. This paper presents the model-free control of a flexible-link robot using a higher order differential feedback controller (HODFC). Controller performance was validated with respect to a classical PID controller. Results show that, whilst the PID controller showed better performance for tracking step and square wave trajectories, the HODFC controller yielded better performance when tracking sine and kane function trajectories. The HODFC controller was also most effective in eliminating the impact of high frequency vibrations from the response of the manipulator.