Robust Lyapunov-Based Control for Trajectory Tracking and Vibration Reduction in a Planner Flexible Link Manipulator: Handling External Disturbances and Model Uncertainty Robust Lyapunov Based control for flexible link manipulator

In this work, a Robust Lyapunov based controller (RLBC) has been developed in the presence of model uncertainty and external disturbances and applied to a planner two-link flexible manipulator (PTLFM) for trajectory tracking and vibration reduction of the flexible links. The uncertainty design of the system includes the uncertain parameter, which is the equivalent viscous damping coefficient. External disturbances that depend on the state have been incorporated. The uncertain parameter has been changed in order to assess the effectiveness of the controller. The system's uncertainty has been modeled in two different ways with the help of the uncertain parameter. The robustness of the RLBC has been established in the simulation section.