Vibration control of flexible robotic arms using robust model matching control

Abstract

The authors present a new method for the vibration control of flexible robotic arms using a robust model matching control strategy. To reduce the order of the compensator, the rigid-body mode and the first flexible mode are considered as a nominal model. The other flexible modes are considered as unmodeled dynamics. The method is suitable to robustly control the nominal model in the presence of unmodeled flexible dynamics and achieve the desired model matching simultaneously. To apply the model matching strategy to flexible arms such that the nominal model is nonminimum phase, inverse systems of the unstable polynomials are utilized. Moreover, the sufficient condition for stabilizing the nominal model in the presence the unmodeled flexible dynamics is derived. Finally, computer simulation results are presented.