Paper Title:

A Robust Trajectory Tracking Control Scheme of Two-Link Flexible Manipulator

Periodical Advanced Materials Research (Volumes 328 - 330)
Main Theme Mechatronics and Materials Processing I
Edited by Liangchi Zhang, Chunliang Zhang and Zichen Chen
Pages 2108-2112
DOI 10.4028/www.scientific.net/AMR.328-330.2108
Citation Jing Shuang Lu et al., 2011, Advanced Materials Research, 328-330, 2108
Online since September, 2011
Authors Jing Shuang Lu, Chun Mei Du, Rui Zhou, Na Li
Keywords Dynamic Model, Robustness, Trajectory Tracking Control, Vertical Plane Two-Link Flexible Manipulator
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Abstract

A simple dynamics model is established based on the two-link flexible manipulator moving within the vertical plane, and a robust simple control scheme is put forward. The advantages of this scheme are simple and good robustness. Only the error signal is needed when designing the control scheme and the acquirement of control signal does not depend on the system model. The simulation results show that this method has a good robustness and stability.