On the Stability of PD Control for a Two-Link Rigid-Flexible Manipulator

[+] Author and Article Information
Ahmet S. Yigit

Department of Mechanical Engineering, Kuwait University, P. O. Box 5969, Safat 13060 Kuwait

J. Dyn. Sys., Meas., Control 116(2), 208-215 (Jun 01, 1994) (8 pages) doi:10.1115/1.2899212 History: Received March 26, 1992; Revised May 30, 1993; Online March 17, 2008


Controller design for a rigid-flexible two-link manipulator is considered. Robustness of independent joint PD control is investigated. It has been shown that the stability of independent joint PD control does not depend explicitly on the system parameters. No discretization or linearization of the equations of motion is required to assure the stability. Simulation studies also show that independent joint PD control gives reasonably good results for the flexible system, and is robust to parameter uncertainties.

Copyright © 1994 by The American Society of Mechanical Engineers
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