| Abstract: | On the basis of singular perturbation theory, a composite controlapproach is proposed for constrained flexible manipulators in this paper. The dynamics equation of a constrained two-link flexible manipulator is divided into slow-subsystem and fast-subsystem. Based on the adaptive theory, the slow controller is designed. For the fast subsystem, a robust optimal controller is presented. Under the slow time scale and the fast time scale, a composite control strategy is constructed. Some results of numerical simulations are presented to show the effectiveness of this design procedure. |
