Energy-based robust controller design for multi-link flexible robots

Abstract

A class of robust stable controllers to control the tip position of a multi-link flexible robot is presented. In contrast to traditional model-based methods, the controllers are derived by using a basic relationship of system energy and are independent of the system dynamics. The approach allows controller design in the absence of a system model (which is very complicated in the case of the multi-link flexible robot) and provides great freedom in feedback control design. Further, the controllers are easy to implement in practice because, depending on actual instrumentation, all the signals can be chosen to be measurable. Simulation results of a two-link flexible robot are provided to show the effectiveness of the presented approach. Copyright © 1996 Elsevier Science Ltd.