Robust Control of a 2-DOF Flexible Link Robot

This work proposes a nonlinear control strategy for a two-degree-of-freedom (2-DOF ) flexible-link robotic manipulator, aimed at addressing the challenges associated with structural flexibility, including link deformations and vibratory dynamics. To handle the inherent nonlinearities in the system’s dynamics, input-state feedback linearization is employed, transforming the nonlinear model into an equivalent linear system that facilitates the application of linear control techniques. This linearization approach is further integrated with singular perturbation theory to enable effective separation of slow and fast dynamics, thereby enhancing vibration attenuation by supporting controller design and vibration suppression. A proportional-derivative (PD) controller is subsequently designed to achieve high-precision trajectory tracking and accurate position of the end effector throughout the manipulator motion.