Abstract

In this thesis, we develop robust dynamical controllers for addressing the problems of tracking and regulation of both rigid-link and flexible-link manipulators. The design of the dynamical controller is based on construction of a two-time scale dynamical motion of the closed-loop system. Furthermore, other conventional control methods such as the PD control, computed torque, and localization methods are investigated for comparison purposes. The main control objective is to achieve stability of the closed-loop system while ensuring boundedness of all the control signals as well as sufficiently small tip-position tracking requirement. In order to achieve a minimum phase behaviour for utilizing output feedback control strategy, a new redefined output is proposed. Instead of using the joint angles as outputs in the rigid-link case, a new output is chosen for the flexible-link case which will provide and guarantee stability of the closed-loop flexible system. Simulations results are provided for both the rigid-link and flexible-link manipulators using the proposed control strategies. A comparative analysis is also included to demonstrate and illustrate the advantages and disadvantages of the considered control methodologies.

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