Control of Flexible Robot by Harmonic Functions

Abstract

This work deals with the control of flexible structures as underactuated systems. The invariant control method performs the control of a flexible robot as a representative of an underactuated system with zero dynamics. The control input is separated into two parts. The arbitrary part of the control input is designed to control the directly actuated part of the dynamic system. The invariant part of the control is selected to steer the system zero dynamics in the desired way. The harmonic functions create the base for the invariant part of the control function. The residual vibration cancellation is the target of the presented invariant control strategy. The harmonic function frequencies are overtaken from the so-called natural motion, amplitudes are the results of the optimization process. The main target of this paper is to show the invariant control approach and its application to the system with flexible elements.