Dynamic modelling of flexible robotic mechanisms and adaptive robust control of trajectory computer simulation - Part I

The purpose of this research is to design robust control for a flexible arm by a deterministic approach. This approach represents a new development in control. theory and allows dealing with uncertain elements; which every dynamical system may contain, as well as with unknown or imperfectly know inputs and errors in state measurements. The obtained controller guarantees that all possible responses of the system behave in a desired fashion. The controllers, designed via this, approach, are called "robust" or "deterministic". The deterministic or robust principle of control is successfully applied to single input multiple-output system with a system matrix as large as 6 x 6 (in the case of one link flexible arm). Two different controllers are designed. The uncertain parameters appear here as a set of the natural frequencies of the system. The procedure for the design performed here, can also be applied (with some modifications) to multi-input multi-output system (MIMO), e.g., to a manipulator with several flexible links. Theoretical proof that the robust control may be applied to MIMO systems is available. (C) 2002 Elsevier Science Inc. All rights reserved.