Design of Dynamic Nonlinear Control Techniques for Flexible-Link Manipulators

Abstract:

Article Preview

In this paper, we develop robust dynamical controllers for addressing the problems of tracking and regulation of flexible-link manipulators. The design of dynamical controllers is based on construction of a two-time scale dynamical motion of the closed-loop system. The main control objective is to achieve stability of the closed-loop system while ensuring boundedness of all the control signals as well as sufficiently small tip-position tracking requirement. In order to achieve a minimum phase behaviour for utilizing output feedback control strategy, a new redefined output is proposed. Instead of using the joint angles as outputs in the rigid-link case, a new output is chosen for the flexible-link case which will provide and guarantee stability of the closed-loop flexible system. Simulations results are provided for flexible-link manipulators using the proposed control strategies. A comparative analysis is also included to demonstrate and illustrate the advantages and disadvantages of the considered control methodologies.

Info:

Periodical:

Solid State Phenomena (Volume 144)

Edited by:

Inga Skiedraite and Jolanta Baskutiene

Pages:

250-256

DOI:

10.4028/www.scientific.net/SSP.144.250

Citation:

V. Gavriloiu et al., "Design of Dynamic Nonlinear Control Techniques for Flexible-Link Manipulators", Solid State Phenomena, Vol. 144, pp. 250-256, 2009

Online since:

September 2008

Export:

Price:

$35.00

In order to see related information, you need to Login.