A Robust Trajectory Tracking Control Scheme of Two-Link Flexible Manipulator
A simple dynamics model is established based on the two-link flexible manipulator moving within the vertical plane, and a robust simple control scheme is put forward. The advantages of this scheme are simple and good robustness. Only the error signal is needed when designing the control scheme and the acquirement of control signal does not depend on the system model. The simulation results show that this method has a good robustness and stability.
Liangchi Zhang, Chunliang Zhang and Zichen Chen
J. S. Lu et al., "A Robust Trajectory Tracking Control Scheme of Two-Link Flexible Manipulator", Advanced Materials Research, Vols. 328-330, pp. 2108-2112, 2011