Non-model-based control of manipulators cooperating flexible payload

Different from the traditional studies of manipulators handling flexible load that concentrated on the structural analysis and stability, this paper studies the cooperative control and vibration control problem based on observer. Through some information of the manipulator end-point contacting with the load and load physical properties, the relationship between the system flexible coordinates is got, and then a non-model-based observer is designed. The non-model-based fast and slow subsystem controllers are designed by the estimated states of the observer. The stability of the overall system composed of the observer system and the controller system can be guaranteed. Simulation results verify the effectiveness of the method proposed in this paper.