Trajectory Control of a Single Link Rigid-Flexible Manipulator

This paper presents control approaches for a flexible manipulator system. The nonminimum phase problem is treated and solved through two different approaches. A motion planning technique is used in a first approach. It searches for proper output trajectories with polynomial form, in such a manner that the effects of the unstable zeros are completely canceled. The second approach is a recent technique, called path-following.The main objective of pathfollowing with internal model control is to steer a physical object to converge to a geometric path. The secondary objective is to ensure that the object’s motion along the path satisfies a given dynamic specification.