Boundary control for a flexible manipulator with a robust state observer

In this paper, a boundary controller for a flexible manipulator is proposed based on a partial differential equation (PDE) robust observer. In the previous work we have proposed a PDE robust observer to estimate the infinite dimensional states of the flexible manipulator with unknown boundary disturbance and spatially distributed disturbance. On the basis of the proposed robust state observer, a boundary controller is designed to achieve the stability control, regulate the joint position and suppress elastic vibration in this paper. The stabilities of the proposed observer and the boundary controller are validated by theoretical analysis. Numerical simulations are provided to demonstrate the effectiveness of the closed-loop system.