Joint-Based Control of a Nonlinear Model of a Flexible Arm

In this paper the control problem for a one-link flexible arm described by a nonlinear model is considered. Based on the input-output inversion algorithm, a state-feedback control law is designed which enables exact reproduction of any desired smooth joint trajectory. In the closed loop an unobservable dynamics naturally arises, related to the varables describing the arm distributed flexibility. Open vs. closed-loop strategies are developed and compared. Simulation results are included. Finally, extensions of this approach to end-point based trajectory control are suggested.