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针对柔性机械臂非线性系统的模型，采用非线性状态反馈局部解耦和基于非线性泛函在给定函数附近线性展开的思想，导出了一种使系统沿期望轨迹运行的控制律计算方法。仿真与实验结果验证了其有效性。
Aiming at the model of flexible manipulator with nonlinear system, a method of calculating the control law of the system along the desired trajectory is derived by using the local decoupling of nonlinear state feedback and the idea of linear expansion around a given function based on nonlinear functional. Simulation and experimental results verify its effectiveness.