Control of a single-link flexible manipulator: Integration of output-based filter with model predictive constraint

Abstract Flexible robotic manipulators suffer from unwanted tip deflections and residual vibrations due to their lightweight and elastic structures. These vibrations can significantly degrade control performance and limit positioning precision. This paper proposes a hybrid control strategy that integrates an output-based vibration suppression filter with a Model Predictive Controller (MPC) to achieve precise and robust control of a single-link flexible manipulator (SLFM). The output-based filter is specifically designed to suppress tip deflections by attenuating the excitation of flexible modes, while the MPC provides advanced control of the hub angle, ensuring accurate trajectory tracking and robust handling of system dynamics and constraints. Simulation results demonstrate that the hybrid control system achieves precise control performance, significantly reduces tip deflections, and enhances the overall dynamic response of the flexible manipulator compared to conventional control strategies.