For the purpose of the equivalent dynamics model of a hydraulic flexible manipulator,namely an electro-hydraulic position servo system with flexible load,the paper proposed a robust controller design method that combines sliding mode control and adaptive backstepping control.

There is a two rank oscillation factor in the numerator of transfer function because there exists flexible load in electrohydraulic force control system.

Modeling and control for the system of two manipulators in handling flexible payload based on hinge configuration;

Control of two manipulators handling a flexible payload based on observer

Considering nonlinearity of step motor s output torques and low frequency vibration characteristics of flexible payload,a method for designing control command of step motor is proposed to suppress the residual vibration in this paper.

At present, since the method used in the pricing of electric energy is based on the weighted mean power factor in China, the time-varying load characteristics of users cannot be reflected.