Title :
Tip tracking control of a flexible manipulator using PD type controller
Author :
Ge, S.S. ; Lee, T.H. ; Zhu, G.
Author_Institution :
Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
In this paper, tip tracking control is investigated for a single-link flexible manipulator. The flexible beam is lumped to a spring-mass system based on which a very simple but effective PD type controller is developed to achieve bounded input and bounded output (BIBO) stable tip tracking performance. The controller is robust to system parameter uncertainties, and is comparatively easy to implement
Keywords :
flexible structures; manipulator dynamics; position control; tracking; two-term control; BIBO stability; PD type controller; bounded input and bounded output stability; flexible beam; single-link flexible manipulator; spring-mass system; tip tracking control; Acceleration; Control systems; Design engineering; Intelligent control; Manipulator dynamics; PD control; Power engineering computing; Robots; State estimation; Uncertain systems;
Conference_Titel :
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2975-9
DOI :
10.1109/CCA.1996.558728
