Adaptive energy-based controllers for a two link flexible manipulator under gravity

Author

Hosseini, Sanaz ; Fallah, Ali ; Nazari, Mahtab

Author_Institution

Dept. of Biomed. Eng., Amirkabir Univ. of Technol., Tehran

fYear

2008

Firstpage

659

Lastpage

663

Abstract

In this article, two adaptive, energy-based controllers are presented for regulation problem of planar two link flexible manipulator rotating in vertical plane under gravity. The first controller consists of a joint PD controller, an adaptive proportional controller which makes use of link curvature to suppress vibration and gravity compensation term. In second one a Lyapunov-based PD controller substitutes the joint PD. the effectiveness of the proposed controllers are shown and compared in the simulation results.

Keywords

Lyapunov methods; PD control; adaptive control; flexible manipulators; Lyapunov-based PD controller; adaptive energy-based controllers; adaptive proportional controller; gravity compensation; planar two link flexible manipulator; vibration suppression; Adaptive control; Biomedical engineering; Control systems; Gravity; PD control; Programmable control; Proportional control; Robot kinematics; Transmission line matrix methods; Vibration control; Adaptive; Energy-based controller; Two link flexible; Under gravity;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2008. ICCAS 2008. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-9-3

Electronic_ISBN

978-89-93215-01-4

Type

conf

DOI

10.1109/ICCAS.2008.4694583

Filename

4694583