A linear-quadratic optimal control problem is considered for the infinite-dimensional model of a one-link flexible arm. Two boundary inputs are assumed to be available, namely joint torque at link base and transverse force tip link. The formulated solved using semigroup theory duality arguments. Simulation results provided support theoretical findings, comparing proposed LQ law with more conven...

Flexible-link robotic manipulators are mechanical devices whose control can be rather challenging, among other reasons because of their intrinsic under-actuated nature. This chapter presents various experimental studies of diverse robust control schemes for this kind of robotic arms. The proposed designs are based on several control strategies with well defined theoretical foundations whose eff...

In this paper we developed a control scheme starting from Bond Graph representation of the Quanser Flexible link experiment. The objective of the experiment is to design a control system that positions the flexible arm as well as regulating vibration. The structure of the control scheme uses two types of control methods. In order to achieve a faster or robust response together with optimal cont...