PDE modeling and control of a flexible two-link manipulator

Author

Zhang, Xiaoping ; Xu, Wenwei ; Nair, Satish S. ; Chellaboina, VijaySekhar

Author_Institution

Lehigh Univ., Bethlehem, PA, USA

Volume

13

Issue

2

fYear

2005

fDate

3/1/2005 12:00:00 AM

Firstpage

301

Lastpage

312

Abstract

A partial differential equation (PDE) model for a flexible two-link manipulator is derived and transformed to a form appropriate for the development of stable control designs. Stable control of this nonlinear infinite dimensional two-link system is then achieved by a novel control design developed using passivity and Lyapunov-based methods. A two-link hardware experimental setup is used to validate the analytical PDE model and the proposed stable control design scheme.

Keywords

Lyapunov methods; control system synthesis; flexible manipulators; nonlinear systems; partial differential equations; stability; Lyapunov-based methods; flexible two-link manipulator; nonlinear infinite dimensional two-link system; partial differential equation model; stable control; Acceleration; Aerodynamics; Angular velocity; Control design; Elbow; Manipulator dynamics; Nonlinear control systems; Partial differential equations; Robots; Shoulder; Flexible manipulator; Lyapunov methods; nonlinear control; partial differential equations (PDEs); passive filters; robot dynamics; system modeling;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2004.842446

Filename

1397764