Cooperative Output Feedback Control of a Dual Rigid-Flexible Two-Link Manipulator

This paper studies a dual rigid-flexible two-link manipulator system. Based on the system, a cooperative output feedback controller is designed for grasping rigid objects. In order to establish the infinite dimensional model of the system, it is established by Hamiltons principle as coupled ordinary differential equations-partial differential equations (ODEs-PDEs). Meanwhile, four high-gain observers are used to observe the unmeasurable states. Based on the above preparation, we propose cooperative control law based on Lyapunov direct method. It can realize the coordinated control of object position and control force, and eliminate the vibration of flexible manipulator in the process of movement. In the last part of the paper, the effectiveness of the proposed controller proved by rigorous theoretical analysis and simulation.