A Simple Control Method of Single-Link Flexible Manipulators

摘要

Flexible manipulators with high-speed, high-load, and low-cost arise with the requirement of lightweight manipulators in aerospace, construction, manufacturing industry, etc. Lightweight flexible links make manipulators more feasible in many ways. However, their dynamic modeling and controller design are quite complex. Firstly we illustrate the model of single-link flexible manipulators. Then, by analyzing the manipulator energy, a nonlinear controller is designed, which can effectively control the system, that is, to make the rotation angle of manipulators rotate to a given angle while suppressing the vibration of manipulators. Furthermore, through rigorous and detailed theoretical analysis, it is concluded that the closed-loop system is asymptotically stable. Finally, we utilize some simulations to validate the control performance of the controller.