Output Constraint Boundary Control of a Flexible Manipulator

In this paper, in order to suppress the vibration and track the desired angle of a flexible manipulator effected by output constraints and external disturbances, the novel restricted boundary control laws with disturbance observers are proposed. The barrier Lyapunov function is adopted to limit the tracking errors of the angle and the end-point displacement. Disturbance observers are designed to reject external disturbances. For the closed-loop system, the stability is proven. Numerical simulations show the feasibility of the proposed control schemes.