Boundary Disturbance Observer-Based Control of a Vibrating Single-Link Flexible Manipulator

Abstract

This paper examines the boundary disturbance observer-based control for a vibrating single-link flexible manipulator system possessing external disturbances. Two new boundary anti-disturbance control strategies are presented to eliminate vibration, track disturbance, and determine angle position for the flexible manipulator system. Achieving rigorous analysis with no model reduction, the derived control can ensure the angle positioning and bounded stability in the controlled system. By appropriately designing parameters, the resulting simulation results can demonstrate the control performance.