Modeling and control of a two-link flexible robot manipulator

Modeling and control of a two-link robot manipulator, whose first link is rigid and the second one is flexible, is considered. We derive dynamic equations of the system by means of Hamilton´s principle. First, PD and nonlinear PD-like controllers are designed to achieve tracking of the desired reference signals and to suppress the tip deviations of the flexible link. Then, a composite controller based on the singular perturbations method is designed to achieve the same control objectives. Performance of the designed controllers are compared with each other based on simulation results.