Nonlinear tip-position tracking control of a flexible-link manipulator: theory and experiments

被引：52

作者：

Moallem, M

Patel, RV ^{[1
]}

Khorasani, K

机构：

[1] Univ Western Ontario, Dept Elect & Comp Engn, London, ON, Canada

[2] Concordia Univ, Dept Elect & Comp Engn, Montreal, PQ H3G 1M8, Canada

来源：

AUTOMATICA | 2001年 / 37卷 / 11期

基金：

加拿大自然科学与工程研究理事会;

关键词：

flexible arm; non-minimum phase systems; nonlinear decoupling control; observers; nonlinear control;

D O I：

10.1016/S0005-1098(01)00130-3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an observer-based inverse dynamics control strategy that results in small tip-position tracking errors while maintaining robust closed-loop performance for a class of multi-link structurally flexible manipulators. This is done by defining new outputs near the end points of the arms as well as by augmenting the control inputs by terms which ensure stable operation of the closed-loop system. As part of the control design, a nonlinear observer is introduced to estimate the rates of change of flexible modes. Experimental results are given for the case of a two-link manipulator with a flexible link that further confirm the theoretical and simulation results. (C) 2001 Elsevier Science Ltd. All rights reserved.

引用

页码：1825 / 1834

页数：10

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