Vibration Control of Two-Link Rigid-Flexible Manipulator System with Input Saturation

Abstract

In this paper, the distributed parameter model of two-link rigid-flexible manipulator is established by Hamilton's principle. We propose the controller to achieve the angle trajectory tracking while suppressing the vibration. To deal with the input saturation problem, a smooth hyperbolic function is introduced into the controller. The extended LaSalle's invariance principle is used to prove the asymptotic stability of the system, and the effectiveness of the controller is verified by simulation.