End-point control of a flexible-link via optimal dynamic inversion

In this paper we propose a new method for the end-point control of a single flexible link. As a distinguished feature, the methodology relies on an exact stable dynamic inversion, analytically performed on a family of output functions. In this context, the choice of “transition polynomials” as output functions permits to optimize the motion time subject to limits on the velocity and acceleration of the motor. Furthermore, the technique is robust to unmodelled dynamics. Simulation results show the effectiveness of the approach