This paper presents a high accurate reduced-order model for the output feedback controller which is newly derived on the basis of the modal component synthesis method for the vibration suppression control of a flexible robot arm. The output feedback control law combined the reduced-order model and the Minimum Error. Excitation Method is designed in order to obtain the system stable condition.
The presented control law gives the stable gain for the vibration suppression. From the comparison of the numerical simulation results with the experiment ones using a two flexible links robot arm, the proposed reduced-order model represents system response accurately. The validity of the proposed output feedback law to suppress the vibration of the robot arm is verified by carrying out the experiment.

View full abstract

As a tracking control method of control system, the method of improving control input succesively by the repetition trial is actively researched. When the tracking control is carried out by the repetition trial, the classic optimal control theory can be applied. The authours research a successive approximation method of tracking control problem and simulate the 3-link robot manipulator. This note reports the results of these researches.

View full abstract