Dynamic modeling and vibration control for a nonlinear 3‐dimensional flexible manipulator

Summary In this paper, the control design and stability analysis are presented for a 3‐dimensional flexible manipulator system with input disturbances. To provide an accurate and concise representation of the manipulator's dynamic behavior, the flexible manipulator is described by a distributed parameter system with a set of partial differential equations and ordinary differential equations. Boundary control laws with disturbance observers are proposed to regulate orientation and suppress elastic vibrations simultaneously. The closed‐loop stability is achieved through rigorous analysis without any simplification of the dynamics based on the Lyapunov direct method. Numerical simulations demonstrate the effectiveness of the proposed scheme.