Disturbance Observer Control of Flexible Manipulators Based on Singular Perturbation

The flexible manipulators express strong nonlinear in case of rigid-elastic mode coupling, then it’s hard to gain exact control result. For this problem, singular perturbation theory was adopted to decompose the dynamics into fast and slow subsystem. Firstly, the subject solution was obtained by ignoring the fast subsystem which represented elastic mode. Secondly, the expression form of elastic motion was obtained in case of stretching time scale. The perturbation of model parameters is considered for the rigid part and the disturbance observer is designed to improve the control precision, the state feedback control method is designed for the elastic part. Finally, the simulation results validate the effectiveness of the method.