Control by Interconnection and Energy Shaping for Single-link Manipulator with Flexible-link and Flexible-joint

The control of flexible manipulators has received much attention in the last years. In this paper, we consider a single-link flexible-link flexible -joint manipulator (SFLFJM) to compensate for the motion of tip position and deflection while positioning the end effector at a desired position. For the synthesis of controller, first, the set of configuration variables of the considered SFLFJM in Euler Lagrangian (EL) formulations is transformed into a new set of configuration variables to include the passive collocated or noncollocated output. Then, the obtained new EL formulations are expressed in port-controlled Hamiltonian system with dissipation (PCHD) for tracking error dynamics of tip position and deflection. This paper proposes the application of an energy-based control design methodology so-called interconnection and damping assignment passivity-based control (IDA-PBC), leading to a PCHD closed-loop system, which can be effectively tuned to suppress vibration associated with flexible joint and flexible link. Numerical simulations shows the effectiveness and performance of the proposed controller.

Keywords:

Flexible Manipulator , Port-controlled Hamiltonian Systems , Energy Shaping , Passivity-based Control