Stabilization in networked flexible joint manipulator systems

Abstract

This paper considers the stabilization issues in networked systems of single-link flexible joint manipulators. By using the multiinput multioutput (MIMO) feedback linearization techniques, we present a unified procedure for studying stabilization problems of the network consisting of N flexible joint manipulators. Some general criteria on both local and global stabilization for such network are proposed, and the corresponding control inputs at some specific controlled nodes can be explicitly presented. The procedure shows that the networked single-link flexible manipulator systems can always be stabilized using MIMO linearization strategies. Finally, numerical simulations are performed to demonstrate the feasibility and effectiveness of the proposed procedure.