Feedback Linearization with Acceleration Feedback for a Two-Lin Flexible Manipulator

This paper utilizes a three-loop control strategy in a decentralized fashion for each link of a two-link flexible manipulator. The first loop employs techniques from feedback linearization for the rigid dynamics, where motor dynamics are accounted for in the model and the linearizing control law. The second (outer) loop consists of a simple proportional-derivative (PD) control law for accurate rigid body angle tracking. The third outer loop employs acceleration feedback, from sensed linear acceleration at each link endpoint, to account for flexure effects. The overall scheme is relatively simple in order to facilitate easy implementation; experimental results are provided to verify the effectiveness of the developed schemes.