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

Jing Shuang Lu; Chun Mei Du; Rui Zhou; Na Li

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

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 328-330A Robust Trajectory Tracking Control Scheme of...

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

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.

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Periodical:

Advanced Materials Research (Volumes 328-330)

Pages:

2108-2112

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.328-330.2108

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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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References

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