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

Abstract:

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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.

Info:

Periodical:

Advanced Materials Research (Volumes 328-330)

Edited by:

Liangchi Zhang, Chunliang Zhang and Zichen Chen

Pages:

2108-2112

DOI:

10.4028/www.scientific.net/AMR.328-330.2108

Citation:

J. S. Lu et al., "A Robust Trajectory Tracking Control Scheme of Two-Link Flexible Manipulator", Advanced Materials Research, Vols. 328-330, pp. 2108-2112, 2011

Online since:

September 2011

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Price:

$35.00

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