Modeling and control of a two-link flexible robot manipulator

Modeling and control of a two-link robot manipulator, whose first link is rigid and the second one is flexible, is considered. We derive dynamic equations of the system by means of Hamilton's principle. First, PD and nonlinear PD-like controllers are designed to achieve tracking of the desired reference signals and to suppress the tip deviations of the flexible link. Then, a composite controller based on the singular perturbations method is designed to achieve the same control objectives. Performance of the designed controllers are compared with each other based on simulation results.