Adaptive Robust Tip Tracking Control for Single-Link Flexible Beam

This paper presents an inversion-based adaptive robust tip tracking control strategy that results in high tracking performance while guaranteeing the robustness for a class of linear motor driven single-link flexible beam. To address the non-minimum phase characteristics of the system, the inversion control is achieved by applying output redefinition technique as well as defining the new output at the tip of the flexible beam. In addition, the adaptive robust control (ARC) is introduced to deal with the parameter uncertainties and model uncertainties and to guarantee transient and steady state tracking performance. Comparative simulations and actual experiments based on linear motor driven flexible beam system are carried out to verify the effectiveness of the proposed control strategy.