Payload Adaptation of A Flexible One-link Manipulator

The payload adaptability of a light-weight flexible manipulator is studied. Using the FEM (Finite-Element Method) model of a flexible manipulator, a lower order compensator can be accomplished. The simulation results have shown that the proposed payload-adaptation synthesizer, which synthesizes a payload identifier and a nominal regulator/estimator interpolator to obtain a near-optimal compensator, has good adaptability with varying payload. And the synthesizer also provides a near-optimal damping for this noncolocated control system with torque constraint on the actuator.