Adaptive RISE control of a multi-link flexible manipulator based on integral manifold approach

In this paper, we proposed the adaptive RISE control algorithm for flexible-link manipulator. Via Singular Perturbation theory and the concept of integral manifolds, we divided the coupled nonlinear flexible-link manipulator dynamic system into two time-scaled decoupling subsystems. For slow-varying subsystem, we proposed the gain-varying RISE control algorithm to achieve trajectory tracking in spite of structured and unstructured uncertainty. For fast-varying subsystem, the method of sliding mode control can be well applied to suppress the vibration. A single-link flexible manipulator is employed as a simulation example to show the performance and effectiveness of the proposed adaptive algorithm.