Vibration control of flexible robotic arms using robust model matching control

摘要

Presents 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. Moreover, the sufficient condition for stabilizing the nominal model in the presence the unmodeled flexible dynamics is derived. Finally, computer simulation results are presented to demonstrate the effectiveness of the proposed method.