Active vibration control of a multi-link space flexible manipulator with torque feedback

In this article, a new vibration control method for a space flexible manipulator is proposed from the viewpoint of practicability. An N-link SCARA flexible manipulator is considered. The features of the proposed method are as follows: (1) The control system basically consists of simple local feedback of the joint angle and joint torque. Therefore, it is easy to adapt this method for the construction of a controller with a sensor system in a practical system. (2) The asymptotic stability of this feedback scheme has been proved for a distributed system. (3) On the other hand, the proposed method is not an optimal control method because a dynamic compensator is not used. Therefore, this is a low authority control method. First the dynamics of a manipulator are derived by Hamilton's principle. Then the control method is derived based on an artificial potential. The stability of the proposed method has also been proved by the Lyapunov method for stability analysis. The validity of this method has been proved b...