Highlights We study trajectory tracking control for a two-link flexible manipulator system. An extended state observer is designed to estimate the uncertain variables. A back-stepping controller is designed for the nonlinear manipulator system. We prove convergence of extended state observer and the closed-loop system.
Abstract In this paper, we consider trajectory tracking control of a two-link flexible manipulator model in space. Two variables of joint angle and elastic deformation are partly decoupled by a nonlinear decoupling feedback control method. An extended state observer is introduced to estimate nonlinear terms of the two-link flexible manipulator system. Based on a back-stepping method, a nonlinear controller is designed for the flexible manipulator system. Finally, some simulation results are given to demonstrate the effectiveness of the developed techniques in this paper.
Back-stepping control of two-link flexible manipulator based on an extended state observer
Advances in Space Research ; 56 , 10 ; 2312-2322
2015-07-27
11 pages
Article (Journal)
Electronic Resource
English
Back-stepping control of two-link flexible manipulator based on an extended state observer
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