Application of singular perturbation approach in trajectory tracking control of two-link flexible manipulator

被引：0

作者：

Li, XG ^{[1
]}

Liu, JY ^{[1
]}

Lei, X ^{[1
]}

Zhang, QG ^{[1
]}

机构：

[1] Jilin Vocat Teachers Coll, Dept Elect Engn, Jilin, Peoples R China

来源：

PROCEEDINGS OF THE 3RD WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-5 | 2000年

关键词：

vertical planar two-link flexible manipulators; trajectory tracking control; singular perturbation; state observer of dimensionality reduction experiment;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a singular perturbation approach with state observer of dimensionality reduction is applied for the trajectory tracking control of vertical planar two-links flexible manipulators. Tbe system is divided into fast and slow subsystem. Computed-torque method is adopted to control the slow subsystem, in order to trace joint trajectories precisely. The main contribution of this paper is to design state observer of dimensionality reduction to estimate state that can not be measured in controlling fast subsystem, thereby high frequency vibration caused by elastic deformation in lip trajectory effectively. Finally, results show the effectiveness of control scheme.

引用

页码：3736 / 3740

页数：5