Adaptive Nonlinear Sensor Output Feedback Control of a Flexible Robot Arm

Author

Bolandi, H. ; Esmaeilzadeh, S.M.

Author_Institution

Dept. of Electr. Eng., Iran Univ. of Sci. & Technol., Tehran

fYear

2008

fDate

20-22 Dec. 2008

Firstpage

639

Lastpage

647

Abstract

In this paper, to cope with parametric uncertainties in the nonlinear dynamical model of a flexible robot arm a Lyapunov based adaptive nonlinear output feedback control strategy directly based on tip position and strain gauge measurements is investigated. Effectiveness and performance of the controller in vibration suppressing and fast motion duration tracking capability is shown through simulation.

Keywords

Lyapunov methods; adaptive control; feedback; manipulators; nonlinear control systems; Lyapunov strategy; adaptive nonlinear sensor output feedback control; fast motion duration tracking; flexible robot arm; nonlinear dynamical model; parametric uncertainties; strain gauge measurements; tip position measurements; vibration suppression; Adaptive control; Motion control; Output feedback; Position measurement; Programmable control; Robot sensing systems; Strain control; Strain measurement; Tracking; Vibration control; adaptive nonlinear control; assumed mode method; extended Hamilton´s principle; flexible robot; nonlinear control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer and Electrical Engineering, 2008. ICCEE 2008. International Conference on

Conference_Location

Phuket

Print_ISBN

978-0-7695-3504-3

Type

conf

DOI

10.1109/ICCEE.2008.122

Filename

4741063