Boundary vibration control for a two-link rigid–flexible manipulator with quantized input

The aim of this paper is to investigate the control problem for a two-link rigid–flexible manipulator with input quantization. Abundant studies of the quantized control problem are based on the lumped parameter system, which is expressed using ordinary differential equations. In this paper, the dynamic model for a two-link rigid–flexible manipulator is represented using partial differential equations. The controller design and analysis with input quantization are based on the partial differential equation model. By means of an auxiliary system, tracking errors and boundary vibrations can be eliminated. Simulations are given to verify the effectiveness of the proposed controller with quantized input.