An analysis of distributed vibration control of flexible manipulators using integral manifolds

A design strategy for the control of a two-link flexible manipulator is considered. The system is represented as a distributed parameter model consisting of rigid body motion and flexure effects. The control design is based upon an integral manifold approach in which a linearizing torque control is used to feedback linearize the rigid link dynamics and set the desired rigid link motion. A distributed actuator is used to dampen the link vibrations brought on by the flexibility effects. A correction control term is applied to the torque controller to cancel the effects of flexure on the rigid body motion that the distributed actuator was unable to remove