Observer design for a flexible-link manipulator with PDE model

This paper focuses on designing an observer for a flexible-link manipulator based on the partial differential equation (PDE) dynamic model. The main contribution of this observer's novel design is its ability to estimate vibratory, infinite dimensional states requiring only the practical measurement values of boundary positions. The proposed observer is proven asymptotically stable by theoretical analysis. The vibration of the flexible link is eliminated with a PD control. Favorable performance of the closed-loop system is demonstrated by simulations.