Robust controller for a two-link rigid-flexible manipulator

Yigit A. S.

Winter Annual Meeting of the American Society of Mechanical Engineers, Anaheim, CA, USA, 8 - 13 November 1992, vol.42, pp.229-234, (Full Text) identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 42
  • City: Anaheim, CA, USA
  • Page Numbers: pp.229-234
  • Ankara Yıldırım Beyazıt University Affiliated: No

Abstract

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.