Considering the controller saturation single-rod flexible manipulator robust performance control method
The design method of robust guaranteed performance for single-link flexible robotic arm is proposed to address modeling errors of single-link flexible robotic arm,controller satura-tion and uncertainties caused by external disturbances.Existing control methods for single-link flexible robotic arm often overlook the interference of its mass on system performance and fail to consider the impact of controller input saturation on motor lifespan.Therefore,in this paper,the mass of the flexible robotic arm is treated as modeling uncertainty.Then,based on the Lya-punov function,the sufficient and necessary conditions for the existence of a robust performance controller for uncertain linear systems are derived.The control problem is transformed into an optimization problem of a linear matrix inequality.Ultimately,it minimizes the upper bound of secondary performance index or interference suppression.Simulation results demonstrate that the controller has a significant suppression effect on the vibration of the flexible robotic arm.