Robust controller for a two-link rigid-flexible manipulator
Winter Annual Meeting of the American Society of Mechanical Engineers, Anaheim, CA, USA, 8 - 13 Kasım 1992, cilt.42, ss.229-234, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Cilt numarası: 42
- Basıldığı Şehir: Anaheim, CA, USA
- Sayfa Sayıları: ss.229-234
- Ankara Yıldırım Beyazıt Üniversitesi Adresli: Hayır
Özet
Controller design for a rigid-flexible two link flexible manipulator is considered. A robust control based on Lyapunov's stability theorem is proposed. The stability of the proposed control does not depend explicitly on the system parameters. No discretization or linearization of the equations of motion is required to assure the stability. Simulation studies show that the proposed control gives good results for a rest to rest maneuver, and is robust to parameter uncertainties. There is also enough design freedom to incorporate various performance measures or constraints.