Slewing and vibration control of a single-link flexible manipulator by positive position feedback (PPF)

Positive position feedback (PPF) is an effective vibration control technique for smart actuators and has been studied in recent years. In this paper, PPF controller is analyzed and applied to the PZT actuators for suppressing multi-mode vibrations while slewing the single-link flexible manipulator. Both set-point and trajectory tracking control are considered. Moreover, PPF is compared with L-type velocity feedback for PZT actuators to verify the characteristic of anti-spillover of PPF. The hardware experiments verified the proposed method.