Vibration suppression for two manipulators handling a flexible payload based on observer

Two manipulators cooperating a flexible payload are studied based on adaptive theory. Different from the traditional studies of manipulators cooperating a flexible load which concentrated on the structural analysis and stability, this paper studies the cooperative control and vibration control problem based on observer. Considering the complexity of the dynamic model, the obtained model is linearized to retain the flexibility movement of the system vibration. The controller is designed based on observer. The stability of the overall system composed of the observer system and the controller system can be guaranteed by using Lyapunov stability theory. The validity of the proposed scheme is demonstrated by simulations.