Slewing and vibration control of a single-link flexible manipulator using filtered feedback linearization

Abstract

This article presents the filtered feedback linearization controller for the simultaneous positioning and vibration suppression of a slewing flexible-link manipulator. Filtered feedback linearization requires only limited model information, specifically, knowledge of the vector relative degree and knowledge of the dynamic-inversion matrix, and it makes the ${\mathcal{L}}_{\infty }$ command, following errors, arbitrarily small despite the presence of unknown disturbances. A closed-loop performance is determined by a parameter gain, which can be viewed as the cut-off frequency of a low-pass filter. For sufficiently large parameter gain, the closed-loop performance is arbitrarily small. Furthermore, we present an adaptive filtered feedback linearization controller, which uses a high-gain adaptive law to increase the controller parameter until the desired performance is achieved. Numerical and experimental results demonstrate the effectiveness of the proposed controller.