Flexible Manipulator Control Based on Singular Perturbation Theory Study

Ping Lin Zeng; San Xiu Wang; Ji Jian Qiu; Shou Ren Ma; Xiao Fei Wan

doi:10.4028/www.scientific.net/AMM.346.69

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 346Flexible Manipulator Control Based on Singular...

Flexible Manipulator Control Based on Singular Perturbation Theory Study

Abstract:

Aiming at the problem of tracking the reference trajectory and suppressing the beam vibration for flexible manipulator, this paper separated the system of flexible-link manipulator into slow subsystem and fast subsystem two different time scale subsystems based on singular perturbation theory and proposes a simple composite control algorithm. For the slow subsystem, a sliding mode controller is employed to track the desired trajectory, while optimal controller is used to stabilize the fast subsystem to suppress the vibration. Finally, the simulation results demonstrate the good performance of the proposed control strategy.

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Periodical:

Applied Mechanics and Materials (Volume 346)

Pages:

69-73

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.346.69

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Online since:

August 2013

Authors:

Ping Lin Zeng, San Xiu Wang, Ji Jian Qiu, Shou Ren Ma, Xiao Fei Wan

Keywords:

Flexible-Link Manipulator, Singular Perturbation Theory, Vibration Suppression

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