Tracking control of manipulators with elastic joints

The control of single-link, flexible manipulators is considered. Using singular perturbation techniques a model-order reduction is carried out and the system dynamics approximated by reduced-order, models in separate time-scales. Based on these reduced-order models, a two-time-scale composite control is proposed which employs only observable states. The limitations of this technique and the design objectives for the fast portion of the composite control are discussed in detail and guidelines for the design of controllers for practical applications produced. Dynamic simulation studies are employed to verify the approach