Combined discrete-distributed control of a single-link flexible manipulator using a Lyapunov approach

This paper presents a development of hybrid control strategics for a single-link flexible manipulator. The control system consists of two actuators; a DC servo motor at the joint and a distributed piezoelectric film actuator bonded to the surfaces of the flexible link. Equations of motion considering two control inputs were developed using the generalized Hamilton's principle. A feedback central law has been developed based on Lyapitunov's direct method and global stability of closed-loop system is guaranteed. A loop-closure technique It as introduced to simplify the design procedure for choosing the feedback gains. Simulation and the experimental results were found to be in good agreement and performance improvement obtained using the hybrid control strategy has been demonstrated.