A New Boundary Optimal Control of Multi Joint Flexible Manipulator Based on LaSalle Analysis Method

This paper presents a new boundary control method for flexible manipulator based on LaSalle analysis method, which is a nonlinear system with unknown parameters, external disturbances and integrity constraints. Through theoretical analysis and dynamic modeling using LaSalle analysis method, using appropriate parameters enables us to obtain higher practicability than using the exponential convergence method in the traditional distributed parameter control method, without applying the traditional Lyapunov stability analysis. In addition, the dependence of each parameter is also given. And the theoretical analysis and practical simulation are carried out, which show the effectiveness of the proposed algorithm.