Boundary control design for a flexible robotic manipulator modeled as a Timoshenko beam

Abstract

The dynamical model and the stability analysis of the flexible robotic manipulator system described with the Timoshenko beam are investigated in this paper. The vibration of the manipulator is suppressed under the external disturbance, the rotation of the Timoshenko beam's cross-section is reduced and the desired angular position is traced with the designed boundary control laws. In addition, the states of the closed-loop system are proven to be exponentially convergent. The numeral simulation is given to verity the effectiveness of the designed control.