Title :
On noncollocated control of a single flexible link
Author :
Chodavarapu, Prasad A. ; Spong, Mark W.
Author_Institution :
Dept. of Mech. & Ind. Eng., Illinois Univ., Urbana, IL, USA
Abstract :
The presence of right half plane (RHP) zeros in the transfer function relating the base torque to the tip position has long been the source of difficulty in noncollocated control of a single flexible link (SFL). In this paper, the authors suggest an alternative noncollocated measurement called the virtual angle of rotation. The authors then show the following. (A) The transfer function with this output does not have any zeros in the open RHP. (B) The zero dynamics arising from this measurement are stable. (C) This distributed system can be stabilized by a finite-dimensional controller in the presence of Rayleigh damping
Keywords :
flexible structures; manipulator dynamics; multidimensional systems; poles and zeros; position control; transfer functions; Rayleigh damping; base torque; distributed system; finite-dimensional controller; noncollocated control; right half plane zeros; single flexible link; tip position; transfer function; virtual angle of rotation; zero dynamics; Actuators; Control systems; Damping; Industrial engineering; Manipulators; Position measurement; Rotation measurement; Torque control; Transfer functions; Vibration measurement;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506855
