Integrated Structure and Control Design for Flexible Manipulator System

To consider the effects of both mechanic structure and controller on the system performance,inte- grated structure and control design method is used for the flexible manipulator.At the same time,the optimal parameters which include the parameters of flexible manipulator structure and the controller parameters are designed.To guarantee both robustness and tip vibration suppression of the system,H_∞robust controller is used.Structural design variables are optimized by using intelligent optimization algorithms that is an improved genetic algorithms.Design results demonstrate that the optimized manipulator is the structure of non-uniform cross-section beam and the designed controller is robust to the system parametric uncertainties.