摘要：AbstractIn this paper the feedback linearization control of flexible structures with hysteresis is addressed. The system of type where a passive flexible structure is mounted on a moving rigid base, e.g. traveling cranes, cantilevers, non-rigid robotic manipulators, is considered. The controlled displacement of the base excites the flexible structure. The feedback nonlinearity, as a function of state, includes the hysteresis restoring force and structural damping. The applied feedback linearization is combined with a proportional-integral-derivative (PID) action so as to track zero reference deflection and compensate for model uncertainties, at the same time. Since the control access point is the base actuation force, the feedback linearization and proportional-integral-derivative control signals are shifted prior to the base control loop using the corresponding inverse transform. An experimental example of elastic robotic arm justifies the consideration of nonlinearities with hysteresis. The proposed control method is evaluated within numerical simulation.
