Robust Optimal Model Matching Control Design for Flexible Manipulators

Abstract

In this paper, the two-parameter compensator technique is used to control the one-link flexible robot arm theoretically. The rigid-body mode and the first flexible mode are considered as the nominal model and the other flexible modes are considered as unmodeled dynamics. The sufficient condition for stabilizing the nominal model against the unmodeled flexible dynamics is derived. The first control parameter is employed to robustly stabilize the one-link flexible robot arm against the unmodeled dynamics and the second one is specified to make the response of the system follow the desired reference model. Simulation results are included to demonstrate the performance of the compensator.