Award Date


Degree Type


Degree Name

Master of Science (MS)


Electrical and Computer Engineering

First Committee Member

Sahjendra N. Singh

Number of Pages



This thesis introduces two schemes that control the end effector trajectory and stabilize a two-link flexible robotic arm. They are (i) The Inverse Trajectory Control scheme and (ii) The Variable Structure System (VSS) scheme; The Inverse Trajectory Control scheme develops a control law based on the inversion of an input-output map. The stable maneuver of the arm depends on the stability of the zero dynamics of the system. A linear stabilizer is designed for the final capture of the terminal state and stabilization of the elastic modes; The second scheme incorporates a Variable Structure Control law which includes robustness in its design. A discontinuous output control law is derived which accomplishes the desired trajectory tracking of the output. This control scheme involves two phases, the 'reaching phase' and the 'sliding phase'; Simulation results are presented to show that large maneuvers can be performed in the presence of payload uncertainty. (Abstract shortened with permission of author.).


Control; Flexible; Inverse; Manipulator; Robotic; Structure; Trajectory; Variables

Controlled Subject

Electrical engineering

File Format


File Size

2.26 MB

Degree Grantor

University of Nevada, Las Vegas




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