Tip Non Linear Control of a One Flexible Link System

M. Saad (Canada)


Nonlinear Control; Flexible link manipulators; Passiv ity; Nonminimum phase.


The objective of this paper is to control the tip of a one flexible link system that insures a trajectory track ing in the Cartesian space while maintaining the vibra tion of the link bounded. Because the relation between the tip position and the input torque is non minimum phase, an intermediate output on the link is selected. A method for selecting the closest output to tip is pre sented based on passivity criteria. Asymptotic conver gence of the errors dynamics is demonstrated based on passivity theorem.

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