Robust controller design for flexible robot manipulators: an optimal output feedback controller design approach

Abstract

A robust optimal output feedback controller design approach is proposed and applied to the controller design problem for one-link flexible robot manipulators. The flexible dynamics of a robot manipulator is represented by a second order transfer function. A controller is designed for a specific manipulator. An alternative approach that does not consider the flexible dynamics is considered. By comparing the performance of the two controllers, it is observed that considerable improvements is obtained with the use of the proposed approach.