On the stability of pd control for a two-link rigid-flexible manipulator

Yigit A. S.

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, vol.116, no.2, pp.208-215, 1994 (Scopus) identifier


Controller design for a rigid-flexible two-link manipulator is considered. Robustness of independent joint PD control is investigated. It has been shown that the stability of independent joint PD control does not depend explicitly on the system parameters. No discretization or linearization of the equations of motion is required to assure the stability. Simulation studies also show that independent joint PD control gives reasonably good results for the flexible system, and is robust to parameter uncertainties. © 1994 by ASME.