Boundary constrained control of a flexible Timoshenko arm

In this paper, we address the vibration control and angle positioning problem of a distributed parameter flexible Timoshenko arm system in the presence of input saturation constraint. The smooth hyperbolic tangent function is adopted to develop boundary controls for regulating the vibration and shear deformation, achieving the angle tracking and restricting the control input in the specified area. The proposed controls are able to make sure that the robotic manipulator is placed in the desired angular. Finally, simulation results are demonstrated for control performance verification.