本项目针对一类沿水平方向转动的双连杆柔性机械臂的偏微分方程建模与主动控制问题进行下列研究：.(1)根据IPMC的特性，对驱动器模型进行辨识，得到模型表达式。.(2)采用分布参数建模方法，从系统能量角度出发，由Hamilton原理推导基于IPMC的非线性双连杆柔性机械臂偏微分方程动力学模型；.(3)考虑系统受外界扰动的问题，利用IPMC设计基于非线性PDE干扰观测器的主动控制算法来抵抗干扰，同时抑制柔性机械臂的振动；.(4)针对电机与IPMC执行器在实际中具有控制输入饱和上界，即控制输入受限问题，设计相应的抗饱和控制算法；.(5)利用IPMC设计系统状态输出受限控制算法，使得双连杆柔性机械臂末端的挠性偏移量限制在合理的可调范围内。.最后通过仿真和实验来验证上述算法的合理性。.本项目利用IPMC对一类双连杆柔性机械臂进行主动控制，解决无穷维分布参数系统的弹性振动问题，具有重要的理论和实际意义。

This project resolves the problems of PDE modeling and active control for a Two-link Flexible Manipulator which moves in the horizontal plane. The research contents are summarized as follows:.(1) The characteristic of IPMC is used to identify the actuation model. The model expression of IPMC actuator is obtained..(2) Based on the analysis of system energy, the method of distributed parameter discretization and Hamilton’s principle are applied to obtain the nonlinear PDEs model of the Two-link Flexible Manipulator with IPMC actuator, avoiding the possible problems such as control spillover caused by the lumped parameter modeling method..(3) Considering the adverse influences of external disturbance, we design a nonlinear PDEs disturbance-observer-based active control scheme based on IPMC. The controller can resist disturbance, and suppress the vibration of flexible manipulator simultaneously..(4) As the motor and IPMC have the upper bounds of the control input in the actual engineering, an anti-saturation control method is developed to deal with the issue of control input constraints..(5) A controller for the state output constraint is proposed based on IPMC actuator, making the elastic displacement maintain in a suitable and selectable range..At last, simulations and experiments are used to verify the proposed algorithms..The project researches active vibration control for a two-link flexible manipulator based on IPMC actuator, solving the vibration problem of infinite dimensional distributed parameter system, which plays an important theoretical and practical significance.