End-effector robust trajectory tracking control for flexible robot manipulators

Abstract

This work proposes a robust control strategy for end-effector trajectory tracking of flexible robot manipulators in the presence of parametric uncertainties and dynamic modeling errors. Using an ideal manifold, the desired performance of the system is described in terms of vibration damping and end-effector flexural error compensating. The control law is derived based on the estimated dynamics such that the motion of the system would converge and remain to the ideal manifold for the idea case that the parametric uncertainties and modeling errors can be ignored. To achieve the robustness of the system, the robust control scheme is developed and added into the control system. Stability of the whole control system is investigated using the Lyapunov stability theory. Simulations are carried out to illustrate the effectiveness of the proposed control method.