Position Control of a Planar Single-Link Flexible-Link Manipulator Based on Enhanced Dynamic Coupling Model

Position control of a planar single-link flexible-link manipulator always faces huge challenges due to the underactuated characteristic of the system and the vibration of the flexible link. Since the system state variables related to the vibration is underactuated, this paper considers enhancing the dynamic coupling of this system. An enhanced dynamic coupling model is established by making equivalent transformation for the real dynamic model of the system. This enhanced dynamic coupling model makes the vibration variables appear as active variables in the proposed energy-based controller. Therefore, the proposed controller achieves good vibration suppression effect. The stability analysis is presented to prove that the proposed controller can effectively achieve the position control objective, and the simulation results further demonstrate the superiority of the proposed control method. Copyright (C) 2020 The Authors.