Combined discrete-distributed control of a single-link flexible manipulator using a Lyapunov approach

This paper presents a development of hybrid control strategics for a single -link flexible manipulator. The control system consists of two actuators; a DC servo motor at the joint and a distributed piezoelectric film actuator bonded to the surfaces of the flexible link. Equations of motion considerin g two control inputs were developed using the generalized Hamilton's princi ple. A feedback central law has been developed based on Lyapitunov's direct method and global stability of closed-loop system is guaranteed. A loop-cl osure technique It as introduced to simplify the design procedure for choos ing the feedback gains. Simulation and the experimental results were found to be in good agreement and performance improvement obtained using the hybr id control strategy has been demonstrated.