Title :
Model-free regulation of multi-link smart materials robots
Author :
Ge, S.S. ; Lee, T.H. ; Wang, Z.P.
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore
fDate :
9/1/2001 12:00:00 AM
Abstract :
Model-free controllers for multi-link smart material robots are presented. The approach allows controller design in the absence of a system model which is complex and difficult to obtain for multi-link smart material robots, and provides additional degrees of freedom in feedback control design. Simulation results are provided to show the effectiveness of the presented approach
Keywords :
Lyapunov methods; adaptive control; closed loop systems; feedback; flexible manipulators; intelligent materials; robust control; Lyapunov function; adaptive control; closed loop systems; feedback; flexible robots; intelligent materials; model-free controllers; multiple-link robots; robust control; smart material robots; Adaptive control; Centralized control; Feedback control; Intelligent robots; Orbital robotics; Partial differential equations; Piezoelectric actuators; Programmable control; Robust stability; Torque;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/3516.951372
