ILC for a Flexible Single-Link Manipulator

  • Tingting MengEmail author
  • Wei He
Part of the Springer Tracts in Mechanical Engineering book series (STME)


In this chapter, the flexible single-link manipulator is described through a set of PDE, and the motion of rigid body is modeled as an ODE. The control objective is to regulate the rigid hub to track a constant trajectory and meanwhile to suppress the vibrations of flexible link, which is guaranteed by the boundary ILC law. The convergence of the closed-loop system is proved based on proper composite energy function, which is demonstrated by both simulation and experiment results.

Copyright information

© Tsinghua University Press, Beijing and Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.Academy of Mathematics and Systems ScienceBeijingChina
  2. 2.University of Science and Technology BeijingBeijingChina

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