Boundary Control Design for a Flexible Manipulator with Input Backlash

Abstract Boundary control design for a class of flexible manipulator with input backlash is our uppermost work of this paper. The original infinite dimensional model of the manipulator is represented by a partial differential equation (PDE) and a set of ordinary differential equations (ODEs). Our control aims are: 1) moving the manipulator to the certain desired angle; 2) suppressing the vibration at the neighbourhood of the desired angle; 3) handling the backlash nonlinearity existing in the practical system. The stability of the system and the effectiveness of the designed controller are analysed by Lyapunov's direct method and numerical simulation.

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