Robust control schemes in flexible manipulators: A review

In this paper, flexible manipulators are considered because of their several advantages over rigid manipulators, and a survey in the field of two-link flexible manipulators (TLFMs) is presented. Two-link flexible manipulators are more used in comparison with other types of flexible manipulators. The studies on TLFMs are classified into three main categories as modeling methods, dynamical analyses, and control techniques. Different kinds of control problems exist for a two-link flexible manipulator. In this paper, a comprehensive review of robust control schemes applied to TLFMs is presented.

کلیدواژه ها:

Flexible manipulators ، Robust control ، sliding mode control ، adaptive control ، backstepping control ، observer