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 language | English (US) |
|---|---|
| Pages (from-to) | 2560-2565 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 4 |
| DOIs | |
| State | Published - 1990 |
| Event | Proceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) - Honolulu, HI, USA Duration: Dec 5 1990 → Dec 7 1990 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization