Robust P-H∞ Integrated Controller for Flexible Link Manipulator ‎System in the Presence of Disturbance

Document Type : Research Paper


1 Faculty of Engineering and Technology, Multimedia University, 75450 Bukit Beruang, Melaka, Malaysia‎

2 Department of Special Robotics and Mechatronics, Le Quy Don Technical University, 236 Hoang Quoc Viet, Hanoi, Vietnam


Flexible link manipulators have recently high attention in research due to the numerous advantages over traditional manipulators. However, flexible link manipulators still have critical problem of less position accuracy due to the tip vibration. Thus, this research contributes by developing a robust P-H integrated controller for a flexible link manipulator (FLM). The P-H integrated controller is a combination of Proportional (p ) controller and H controller which helps of possession several advantages such as optimal position tracking, effective vibration repression, and robust to reject disturbances. The proposed P-H integrated controller has been simulated to control the FLM system using MATLAB/Simulink toolbox. The results have demonstrated satisfactory performance of the proposed P-H integrated controller in terms of position tracking, vibration repression, and disturbance rejection.


Main Subjects

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