A Vertical-Plane Motion Control of an Electrohydraulically-Actuated Single-Flexible-Link Arm

A nonlinear motion control is developed for a flexible-single-link arm based on the Equivalent Rigid Link System (ERLS) dynamic model and the inverse dynamics of the arm and the actuator. The arm moves in a vertical plane and is actuated by an electrohydraulic motor. The required torque is computed based on the inverse dynamics of the ERLS model. The driving current is then predicted by the inverse actuator dynamics. The computer simulation shows the performance of the control. The implementation of the control system for the single-flexible-link arm will be presented in the subsequent paper.