Vibration Control for a Flexible Single-Link Manipulator and Its Application

This study focuses on vibration control design of a flexible single-link manipulator (FSLM) system and discusses its application on an experimental platform. A spatiotemporal mathematic model is presented to formulate dynamical behaviour of the FSLM system, and only a boundary controller mounted on the hub is designed to drive the link for tracking a given angular position and to reduce elastic deflection simultaneously. Under the boundary vibration control scheme, states of the system are ensured to converge exponentially to the equilibrium position. Moreover, numerical simulations demonstrate the correctness of theoretical proof for the stability analysis and the reasonability of boundary control design. Experiment validation implemented on the Quanser laboratory platform illustrates the same conclusion as well.