A gain scheduled robust controller for a sliding flexible link manipulator

Abstract

The control of a two-link manipulator with a sliding flexible link that traverses inside a rigid link is considered. Since the plant possesses time-varying dynamics that change with the position of the tip, and considerable uncertainty, a fixed controller is unsatisfactory in terms of both performance and robustness. Hence, a controller that schedules with the position is sought and implemented. AnH(infinity) approach is adopted, and the resulting controller provides good performance and stability margins.