DocumentCode
2258010
Title
A modal feedback control law for vibration control of multi-link flexible robots
Author
Yang, H. ; Krishnan, H. ; Ang, M.H.
Author_Institution
Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore
Volume
3
fYear
1998
fDate
21-26 Jun 1998
Firstpage
1821
Abstract
Presents a modal feedback controller for vibration control of multi-link flexible robots. The controller is based on independent joint PD control and modal feedback. The asymptotic stability of the proposed control scheme has been proved via Lyapunov stability theory. Both the design procedure and the implementation of the controller are simple. Simulation results confirm the good performance of the controller
Keywords
Lyapunov methods; asymptotic stability; control system synthesis; feedback; robots; two-term control; vibration control; Lyapunov stability theory; asymptotic stability; independent joint PD control; modal feedback control law; multi-link flexible robots; vibration control; Adaptive control; Asymptotic stability; Feedback control; Lyapunov method; Motion control; Optimal control; PD control; Robot control; Shape control; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1998. Proceedings of the 1998
Conference_Location
Philadelphia, PA
ISSN
0743-1619
Print_ISBN
0-7803-4530-4
Type
conf
DOI
10.1109/ACC.1998.707331
Filename
707331
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