A Robust Trajectory Tracking Control Scheme of Two-link Flexible Manipulator

被引：0
|
作者：
Lu, Jingshuang [1 ]
Du, Chunmei [2 ]
RuiZhou [1 ]
Li, Na [2 ]
机构：
[1] Air Force Aviat Univ, Dept Informat, Changchun, Peoples R China
[2] Air Force Aviat Univ, Dept Elect Engn, Changchun, Peoples R China
来源：
MECHATRONICS AND MATERIALS PROCESSING I, PTS 1-3 | 2011年 / 328-330卷
关键词：
Vertical plane two-link flexible manipulator; dynamics model; trajectory tracking control; robustness;
D O I：
10.4028/www.scientific.net/AMR.328-330.2108
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A simple dynamics model is established based on the two-link flexible manipulator moving within the vertical plane, and a robust simple control scheme is put forward. The advantages of this scheme are simple and good robustness. Only the error signal is needed when designing the control scheme and the acquirement of control signal does not depend on the system model. The simulation results show that this method has a good robustness and stability.
引用
收藏
页码：2108 / +
页数：2
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