Long range predictive multivariable control of a two links flexible manipulator

被引：0
|
作者：
Dion, J.M. [1 ]
Dugard, L. [1 ]
Thi Thanh, T.Nguyen [1 ]
机构：
[1] INPG-CNRS, Saint-Martin d'Heres, France
来源：
Lecture Notes in Control and Information Sciences | 1991年 / 162卷
关键词：
Control systems; Multivariable - Control systems; Predictive - Mathematical techniques--Algorithms - Robots--Manipulators;
D O I：
10.1007/bfb0039275
中图分类号：
学科分类号：
摘要：
In this paper, we are interested in the control of a two degree of freedom flexible arm. The objective is to develop a control algorithm that allows to follow some prespecified reference trajectories. Based on a linear two inputs-two outputs model, the control law proposed should cope with the flexibilities and the couplings between the two links for reasonable displacements. To this end, a long range predictive control with a precompensator is used to decouple with stability and to compensate for the vibration modes. Some experimental results on the flexible arm are given.
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页码：229 / 250
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