Robust bounded control for the flexible arm robot

This work presents an algorithm for designing the optimal robust saturated output feedback controller for the two-link planar robot with a spring between two links by the Attractive Ellipsoid Method serving for class of uncertain “quasi-Lipschitz” dynamics. The Attractive Ellipsoid Method (AEM) application permits to describe the class of nonlinear feedbacks containing a saturation operator that guarantees a boundedness of all possible trajectories around the origin. Here we consider more general types of nonlinear bounded feedbacks which can be corrected (adjusted) on-line during a control process. The optimization of feedback within this class of controllers is associated with the selection of the feedback parameters which provide the trajectory converges within an ellipsoid of a “minimal size”.