Three-dimensional modeling and input saturation control for a two-link flexible manipulator based on infinite dimensional model

In this paper, the modeling and controlling problem is studied for a two-link rigid-flexible manipulator in three-dimensional (3D) space under input saturation. The dynamics of the 3D manipulator is first derived in infinite dimension model, which is represented by partial differential equations (PDEs). The controller can achieve joint angle control and vibration suppression control in the presence of input constraint. The stability analysis of the closed-loop system is given based on LaSalle's Invariance Principle. Numerical simulations illustrate the effectiveness of the proposed controller. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.