Tip position tracking of flexible-link manipulators based on online robust trajectory modification

S. F. Atashzar, H. A. Talebi, M. J. Yazdanpanah, F. Towhidkhah

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a composite controller for tip position tracking of flexible link manipulators. In this regard, an inner/outer control structure is proposed. Opposed to previous conducted researches in this area, the desired reference trajectory is robustly modified (online) to minimize the tracking error of the tip utilizing the outer controller. The outer trajectory modifier is a μ synthesis based controller which modifies the reference trajectory of the inner loop in the uncertain situations. In the inner control loop a Lyapunov Redesign Feedback Linearization (LRFL) approach is applied to alleviate the degrading effects of uncertainties and nonlinearities presented in the dynamics of the flexible link. In the inner control loop, a conventional redefined output namely "close to the tip" is considered to avoid the difficulties associated with non-minimum phase behavior of the main output (tip). In conventional control strategies this choice leads to undesirable oscillations in tip. These oscillations are considerably minimized applying the outer trajectory modifier. Simulation results performed on a single-link flexible manipulator (with the parameters of an experimental setup) are presented to illustrate the significant improvements of performance over the conventional methods.

Original languageEnglish (US)
Title of host publicationProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages1651-1656
Number of pages6
DOIs
StatePublished - 2010
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: Nov 7 2010Nov 10 2010

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Conference

Conference36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period11/7/1011/10/10

Keywords

  • Flexible-link
  • Non-minimum phase systems
  • Robust feedback linearization
  • Trajectory modification
  • μ synthesis

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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