Non-Linear Control with End-Point Acceleration Feedback for a Two-Link Flexible Manipulator: Experimental Results

In this paper, experimental results for a two-stage controller comprised of a rigid-body based nonlinear control augmented with a linear dynamic output feedback derived from Youla's parameterization of stabilizing controllers are presented for a two-link flexible arm at CRRL. It is shown that the outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations.