In this paper, we develop robust dynamical controllers for addressing the problems of
tracking and regulation of flexible-link manipulators. The design of dynamical controllers is based
on construction of a two-time scale dynamical motion of the closed-loop system. The main control
objective is to achieve stability of the closed-loop system while ensuring boundedness of all the
control signals as well as sufficiently small tip-position tracking requirement. In order to achieve a
minimum phase behaviour for utilizing output feedback control strategy, a new redefined output is
proposed. Instead of using the joint angles as outputs in the rigid-link case, a new output is chosen
for the flexible-link case which will provide and guarantee stability of the closed-loop flexible
system. Simulations results are provided for flexible-link manipulators using the proposed control
strategies. A comparative analysis is also included to demonstrate and illustrate the advantages and
disadvantages of the considered control methodologies.
Design of Dynamic Nonlinear Control Techniques for Flexible-Link Manipulators