Vibration and position control of a flexible manipulator

被引：0
|
作者：
Mahmood, I. A. [1 ]
Bhikkaji, B. [1 ]
Moheimani, S. O. R. [1 ]
机构：
[1] Univ Newcastle, Sch Elect Engn & Comp Sci, Callaghan, NSW, Australia
来源：
2007 INFORMATION DECISION AND CONTROL | 2007年
关键词：
D O I：
暂无
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 single-link flexible manipulator is fabricated. This flexible manipulator is modeled as a SIMO system with the motortorque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using frequency-domain system identification. A polynomial based feedback controller is designed to damp hub angle response. This controller also damps the tip position response. Apart from damping the system, the feedback controller also provides substantial robustness. Finally, an integral controller is a so designed to achieve zero-steady state error in the tip position.
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收藏
页码：277 / +
页数：2
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