Random Trajectory Tracking Of Flexible Manipulator With Buffer

Under stochastic disturbance,we research problems of modeling,tracking and stability analysis for flexible manipulator with buffer.The Lagrange model is obtained by using the kinetic energy and potential energy in the case without noise.The stochastic oscillation in the environment is equivalently transformed into disturbance to the controller by the dynamic-static method and the principle of relative motion,and the Lagrangian system with colored noise is obtained.When the state variables of the mechanical system are measurable,the backstepping method is used to design the full state feedback tracking controller.When the speed of vehicles and the ball can not be measured,we use the backstepping method to design another speed observer.The effectiveness of the design scheme is verified by simulation experiments.