A study on the tip tracking control of a single flexible beam

Castillo-Berrio C. F. , ENGİN Ş. N. , Feliu-Batlle V.

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, vol.38, no.5, pp.602-617, 2016 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 38 Issue: 5
  • Publication Date: 2016
  • Doi Number: 10.1177/0142331216632869
  • Journal Indexes: Science Citation Index Expanded, Scopus
  • Page Numbers: pp.602-617


This sequential paper aims to present studies on modelling and tip tracking control of a flexible single beam. It first outlines the flexible-beam robotic mechanism that was designed and built to be used for the force and torque sensory information-based modelling and control. It then details the vibration suppression controller strategy that is applied to this robotic system. The controller is designed with respect to a simple lumped model describing the dynamics of the system. Here the dynamics of the closed-loop controlled motor is inverted in order to obtain a system with unity dynamics. Further, the flexible-beam dynamics is input state linearized. Finally, a simple external feedback control, which is based on the measurements of beam deflections using a force and torque sensor, is implemented. The complete experimental setup was positioned by two servo-motors controlled by a proportional-integral-derivative controller for each axis. The proposed controllers allow the flexible beam to move continuously in a precise manner, so that it could be treated as an accurate positioning sensor. Simulation and experimental results provided at the end illustrate that the controllers designed and implemented produce a satisfactory control performance and adequate robustness to model uncertainties and system nonlinearities.