A two-stage controller for vibration suppression of flexible-link manipulators

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Abstract

A two-stage controller is utilized for vibration damping and end-effector trajectory tracking of a two-link flexible manipulator. The controller design strategy is based upon an inner-loop controller attained through asymptotic expansions and an outer-loop controller for further vibration damping and robustness enhancement of the closed-loop dynamics to parameter variations and unmodeled dynamics in the system. The outer-loop controller is a linear output feedback designed according to a frequency-weighted quadratic cost criterion. The control methodology advocated by the author is applicable to the multilink flexible manipulators. The asymptotic expansion analysis is extended to the force control of flexible-link manipulators. The experimental setup is described.

Original languageEnglish (US)
Pages (from-to)2560-2565
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume4
DOIs
StatePublished - 1990
EventProceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) - Honolulu, HI, USA
Duration: Dec 5 1990Dec 7 1990

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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