Adaptive nonlinear control for end-effector position tracking of multi-link flexible manipulators with embedded active materials

It is well known that the dynamics of multi-link flexible arm from the join actuators to the tip position are non-minimum phase. Therefore, many available adaptive nonlinear control techniques are not applicable to flexible manipulators. In this paper, utilization of extra actuation along the flexible links is considered. Addition of piezoceramic sensors and actuators at proper locations of the arm will yield a minimum phase system. This will allow application of nonlinear feedback methodologies available in the literature. In this paper, experimental results on vibration suppression and end-effector position tracking for a flexible manipulator with embedded piezoceramics are presented. Experimental setups have been developed at Control/Robotics Research Laboratory (CRRL) to study modeling issues and control design approaches for flexible structures with embedded (or surface-mounted) piezoceramics