OBSERVER-BASED INVERSE DYNAMIC CONTROL FOR TRAJECTORY TRACKING OF A FLEXIBLE MANIPULATOR

This paper explores the control scheme of integrating stable inverse dynamics with observer-based state error feedback stabilizing controller for achieving tip trajectory tracking control of a flexible manipulator. Observer-based scheme allows for making full use of the desired state trajectory generated by stable inverse dynamics, thus-the full state error feedback stabilization can be achieved to alleviate the tip trajectory tracking errors due to noise disturbance.