A Singularly Perturbed Model for Robust Control of Linear Single-Link Flexible Manipulator

Authors:	Karimi Hamidreza, University of Tehran, Iran (Islamic Republic of) Yazdanpanah Mohammad Javad, University of Tehran, Iran (Islamic Republic of)
Topic:	4.3 Robotics
Session:	Flexible Robots
Keywords:	Flexible link Manipulator; disturbance attenuation; singularly perturbed model.

Abstract

This paper deals with the modelling of a single-link flexible manipulator utilizing the singular perturbation method. Authors’ attention is focused on the robust regulation of the tip-position based on a new modelling approach under the assumption of norm-boundedness of the fast dynamics (deflection modes). In this approach, the deflection modes may be treated as norm-bounded disturbance. Hence, the controller synthesis is performed only for the certain dynamics of the system.