Tip tracking control of a flexible manipulator using PD typecontroller

摘要

In this paper, tip tracking control is investigated for asingle-link flexible manipulator. The flexible beam is lumped to aspring-mass system based on which a very simple but effective PD typecontroller is developed to achieve bounded input and bounded output(BIBO) stable tip tracking performance. The controller is robust tosystem parameter uncertainties, and is comparatively easy to implement