APPLICATION OF CYCLIC CONTROL TO A 2-LINK FLEXIBLE ARM

A servosystem recently proposed in the literature is applied to the no nlinear control of a two link flexible arm. This control algorithm all ows the execution of cycles defined by points to be attained at given time instants. Differently from repetitive control and learning contro l, where exact trajectory tracking is considered, the control problem herein formulated cares only for points. The control scheme developed is finite dimensional and does not need system re-initialization at ea ch trial, since the new trial starts from the point reached at the end of the previous one. Experimental results show that the proposed algo rithm allows a good control of the flexible arm considered. (C) 1998 E lsevier Science Ltd. All rights reserved.