Design of a Flexible Manipulator controller Based on Input-output Linearization

Basing on input-output linearization strategy, a model of the flexible manipulator can be decomposed into an input-output subsystem and a zero-dynamics subsystem. A fuzzy control is used to input-output subsystem. By analyzing the relationship between the eigenvalues of the zero-dynamics subsystem and the designed parameters in the output of the redefined system, the designed parameters are determined, and guarantee the zero-dynamics to be asymptotically stable at equilibrium point, thus guarantee the whole flexible manipulator system to be asymptotically stable.