Observer-based independent joint control for a coupled rigid-flexible manipulator with actuator saturation based on distributed parameter model

Abstract

This study is concerned with an observer-based independent joint control scheme for a coupled two-link rigid-flexible robotic manipulator considering the effects of actuator saturation and external disturbances. A distributed parameter model of the robotic manipulator system described by ordinary and partial differential equation (ODE-PDE) is derived by using Hamilton’s Principle. An anti-saturation controller is developed to cope with the input saturation problem by using hyperbolic tangent and hyperbolic secant function. Considering the external disturbance, a disturbance observer is designed to estimate the external disturbance. The observer-based independent joint controller can adjust the joint angle and suppress the vibration simultaneously without the need for end-mounted actuators. The extended LaSalle’s Invariance Principle is adopted to strictly prove the asymptotic stability of the robotic manipulator system. The simulation comparisons validate the effectivity of the proposed controllers and observers.