Application of singular perturbation approach in trajectory tracking control of two-link flexible manipulator

In this paper, a singular perturbation approach with state observer of dimensionality reduction is applied for the trajectory tracking control of vertical planar two-links flexible manipulators. The system is divided into fast and slow subsystem. Computed-torque method is adopted to control the slow subsystem, in order to trace joint trajectories precisely. The main contribution of this paper is to design state observer of dimensionality reduction to estimate state that can not be measured in controlling fast subsystem, thereby high-frequency vibration caused by elastic deformation in tip trajectory effectively. Finally, results show the effectiveness of control scheme.