Disturbance Observer-based Control of a Flexible Robot Arm

Abstract

In this study, we address the disturbance observer-based boundary control of a flexible robot arm influenced by disturbances. To achieve the vibration control, disturbance tracking and angle positioning issue of a flexible robot arm, two boundary controllers with disturbance observers are developed. Applying the rigorous analysis without simplifying or discretizing PDE dynamics, the devised control strategies are able to make sure that the controlled system is uniformly bounded stable and the robot is placed in the desired angular. Finally, the effectiveness of the developed control is illustrated by simulation.