Title :
Hybrid Control Strategy for Flexible Manipulators
Author :
Maouche, Amin Riad ; Attari, Mokhtar
Author_Institution :
Houari Boumedien Univ., Algiers
Abstract :
The motion control of a planar manipulator with two flexible arms is studied. Dynamics are developed in Lagrange´s formulation. A novel control system structure is proposed to control the joint position and velocity as well as deflection of the tip for each arm. First, nonlinear control law based on the equations of motion of the robot is presented and stability analysis is studied. Then, an adaptive neural controller is implemented to compensate structured and unstructured uncertainties. Efficiency of the new controller obtained by combining the two control laws is tested facing an important variation of the dynamic parameters of the flexible manipulator and compared to the nonlinear control taken solely. Simulation results show the effectiveness of the control strategy proposed.
Keywords :
adaptive control; control system analysis; flexible manipulators; manipulator dynamics; motion control; neurocontrollers; nonlinear control systems; position control; stability; uncertain systems; velocity control; Lagrange´s formulation; adaptive neural controller; deflection control; flexible arms; flexible manipulators; hybrid control strategy; joint position control; manipulator dynamics; motion control; nonlinear control law; planar manipulator; robot; stability analysis; unstructured uncertainties; velocity control; Arm; Control systems; Lagrangian functions; Manipulator dynamics; Motion analysis; Motion control; Nonlinear dynamical systems; Nonlinear equations; Robots; Velocity control;
Conference_Titel :
Industrial Electronics, 2007. ISIE 2007. IEEE International Symposium on
Conference_Location :
Vigo
Print_ISBN :
978-1-4244-0754-5
Electronic_ISBN :
978-1-4244-0755-2
DOI :
10.1109/ISIE.2007.4374571
