Input Shaping and Feedback Control of a Single-Link Flexible Manipulator

This paper presents investigations into the development of hybrid control schemes for input tracking and end-point vibration suppression of a single-link flexible manipulator system. A collocated proportional--derivative (PD) control scheme using hub angle and hub velocity feedback is initially developed for control of rigid body motion of the system. This is then extended to incorporate a noncollocated proportional-integral-derivative (PID) controller and input shaping techniques for control of vibration of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of input tracking and level of vibration reduction in comparison to the PD control scheme.