Nonlinear optimal control of a two-link rigid-flexible robotic manipulator

Gerasimos Rigatos, Pierluigi Siano, Gennaro Cuccurullo, Masoud Abbaszadeh, Krishna Busawon, Zhiwei Gao, Farouk Zouari, Unit of Industrial Automation Industrial Systems Institute Athena RC, Department of Management and Innovation Systems, University of Salerno, Department of Industrial Engineering, University of Salerno, Department of ECS Engineering, Rensselaer Polytechnic Institute, New York, Department of Mechanical Engineering, University of Northumbria, Department of Electrical Engineering, University of Northumbria, Laboratoire d, Universite de Tunis el Manar

Journal of Vibration and Control

Published online on January 14, 2026

Abstract

Journal of Vibration and Control, Ahead of Print.
A new nonlinear optimal control method is proposed for solving the problem of control and stabilization of a two-link robotic manipulator where the first link is rigid and the second link is flexible. The dynamic model of this robot describes both the ...