Boundary Control for a Rigid-Flexible Manipulator With Input Constraints Based on Ordinary Differential Equations-Partial Differential Equations Model

In this paper, the dynamic model is established for the two-link rigid-flexible manipulator, which is represented by nonlinear ordinary differential equations-partial differential equations (ODEs-PDEs). Based on the nonlinear ODE-PDE model, the boundary control strategy is designed to drive the manipulator to follow a given trajectory and eliminate the vibration simultaneously. Considering actuators saturation, smooth hyperbolic tangent function is introduced for dealing with control input constraints problem. It has been rigorously proved that the non-linear closed-loop system is asymptotically stable by using LaSalle's invariance principle. Simulation results show that the proposed controller is effective.