Adaptive Distributed Control of a Flexible Manipulator Using an Iterative Learning Scheme

Abstract

This paper presents an adaptive distributed control method based on an iterative learning scheme for a flexible manipulator to realize trajectory tracking and vibration reducing. The dynamical model of the flexible manipulator is captured by partial differential equations (PDEs). The control objective is to design a boundary controller and a distributed controller so that the motion of the flexible manipulator can track a desired position, and the deflection can be suppressed simultaneously subjecting to system parameters uncertainties and spatio-temporal distributed disturbances. A Lyapunov based stability analysis is carried out to achieve stability of the controlled system. Finally, simulation results evaluate the validity of the derived control scheme.

Keywords

• Distributed control
• iterative learning control
• adaptive control
• flexible manipulator
• distributed parameter system