On dynamic extension controller for stabilizing a two link planar flexible manipulator

This paper derives a tip position controller for a two link planar flexible manipulator based on the dynamic extension technique and the potential energy shaping technique. Dynamics of the manipulator being described by a set of non-linear ordinary and partial differential equations is expanded by connecting an external system that has its own dynamics and generalized coordinates. Then the potential energy shaping technique for the combined system derives a novel tip position controller that ensures stability of a desired configuration in the sense of Lyapunov. A numerical simulation confirms the validity of the proposed controller.