Double-Disturbance Compensation Design for Full-Closed Cascade Control of Flexible Robots

This paper proposes a new control scheme with double-disturbance model-based compensation for interference force between joints of flexible robots. Following the inception of the double-disturbance model for full-closed cascade control system, a compensation strategy is then investigated, together with its two applications to suppress vibrations due to the interference force. The effectiveness of the proposed designs is verified by numerical simulations and experiments with a prototype of two-joint flexible robot.