This paper presents a development of hybrid control strategies for a single-link flexible manipulator. The control system consists of two actuators; a DC servo motor at the joint and a distributed piezoelectric film actuator bonded to the surfaces of the flexible link. Equations of motion considering two control inputs were developed using the generalized Hamilton’s principle. A feedback control law has been developed based on Lyapunov’s direct method and global stability of closed-loop system is guaranteed. A loop-closure technique was introduced to simplify the design procedure for choosing the feedback gains. Simulation and the experimental results were found to be in good agreement and performance improvement obtained using the hybrid control strategy has been demonstrated.

Issue Section:
Technical Papers
Topics:
Flexible manipulators, Actuators, Feedback, Hybrid control, Closed loop systems, Control systems, Design, Equations of motion, Hamilton's principle, Servomotors, Simulation, Stability
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