Vibration Control of an Experimental Flexible Manipulator Against Input Saturation

This letter considers the control problem of an experimental flexible manipulator in position tracking, vibration suppression, and saturation compensation. Based on the backstepping technology and a Nussbaum function, we develop an anti-windup control to restrain the manipulator’s vibration, realize the desire trajectory tracking,and eliminate the saturation. Applying the Lyapunov’s method, the control system’s stability with the proposed control is proved. Finally, the practicability and effectiveness of the control methodology are verified on a Quanser experiment platform.