Control of Flexible Link Robot using a Closed Loop Input-Shaping Approach

Document Type: Original Article

Authors

Faculty of Engineering, Marvdasht Branch, Islamic Azad University, Marvdasht, Iran,

Abstract

This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a  vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop control system becomes an input delay system. To control this delay system, a robust linear state feedback with proper gain matrix is designed based-on an LMI method. Finally, the simulation results are illustrated to verify closed loop control system behavior.

Keywords