An integral manifold approach to control of a one link flexible arm

Abstract

The problem of controlling a one link flexible arm is considered in this paper. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An integral manifold approach is proposed leading to the derivation of a reduced order system which incorporates the effects of the flexibility distributed along the structure. An approximate technique is finally presented which allows the synthesis of a feedback linearizing control.