Control Design of a Vibrating Flexible Timoshenko Robot Arm with Restricted Input

Abstract

In this study, we deal with the vibration control and angle positioning issue of a flexible Timoshenko robot system influenced by nonlinearly saturated input and external disturbances. The auxiliary systems are exploited to devise boundary controllers for regulating the vibration and shear deformation, achieving the angle tracking and compensating the input saturation effects. Under the suggested controls, the controlled system is guaranteed to be uniformly bounded and the robot is placed in the desired angular. Finally, numerical simulations are performed to validate the theoretical control performance of the presented method.