Tracking control of flexible link manipulator with joint space constraints

Abstract

Abstract A controller design with system uncertainties, external disturbances, and joint space constraints for a flexible link manipulator (FLM) is presented in this paper. To overcome the lumped disturbance and ensure that the joint space constraints are not violated, a finite-time extended state observer (ESO) and a barrier Lyapunov function are constructed. Using Lyapunov’s theory, the error of the system is proved to be semi-globally ultimately uniformly bounded without violating the constraints. Finally, the rationality of the proposed methodology is verified by numerical simulation.