Modeling and Robust PD Compensation of Two-Link Flexible Manipulator

Abstract

The Two Link Flexible manipulator (TLFM) is a two-input-two-output, highly nonlinear and unstable system. Therefore, modeling and control system design of such a system is a challenging task. To this end, first, to establish a non-linear mathematical model of the TLFM, its kinematic and dynamic motions are analyzed through assumed mode method. Then a linearized model about equilibrium point at origin is obtained from this nonlinear model via “linmod/linearize” command in MATLAB. Next, for this linearized model a two-loop robust PD controller is designed via root locus based loop shaping approach. The controller obtained thus is employed for the nonlinear system and the robustness results are verified.