Backstepping Control Design of a Single-Link Flexible Robotic Manipulator

Abstract In this paper, the backstepping design scheme is developed for the tip-position trajectory tracking control of single-link flexible robotic manipulator systems. An infinite dimensional dynamic model of a single-link flexible manipulator is derived through the assumed modes method associated with Lagrange approach. For simplicity, a linearized system model would be analyzed and investigated for our tracking control design with elimination of tip vibration. That is to say, the proposed backstepping controller is not only to stabilize the flexible robotic manipulator, but also to drive the trajectory tracking error and tip-deflection to converge to zero asymptotically. Furthermore, some simulation results are given to illustrate the excellent performance of the backstepping control design applied to a single-link flexible robotic manipulator.

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