Adaptive Robust Stabilization of a Flexible Timoshenko Manipulator

This paper investigates an issue on the development of a vibration suppression scheme for stabilizing a flexible Timoshenko manipulator with time-varying disturbances and uncertain system parameters. In order to cope with the parametric uncertainties, mitigate the vibration, and realize the angle tracking of the manipulator, the boundary robust adaptive controllers and adaptive updating laws are conducted by employing Lyapunov's direct method. The state of the manipulator system is certified to converge to a small neighborhood of zero based on rigorous mathematical deducing. Simulation results are presented to evaluate the efficiency of the suggested control.