DocumentCode
2653316
Title
Lyapunov-Based Nonlinear Output Feedback Control of a Flexible Link
Author
Bolandi, H. ; Esmaeilzadeh, S.M.
Author_Institution
Dept. of Electr. Eng., Iran Univ. of Sci. & Technol., Tehran
fYear
2009
fDate
22-24 Jan. 2009
Firstpage
397
Lastpage
404
Abstract
In this paper, to cope with highly nonlinear behavior of a flexible link robot dynamic, a Lyapunov based 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; feedback; flexible structures; nonlinear control systems; robot dynamics; Lyapunov-based nonlinear output feedback control; fast motion duration tracking capability; flexible link robot; nonlinear behavior; strain gauge measurement; tip position; vibration suppressing; Control systems; Legged locomotion; Manipulator dynamics; Motion control; Nonlinear dynamical systems; Output feedback; Robots; Sliding mode control; Strain measurement; Tracking; adaptive nonlinear control; assumed mode method; extended Hamilton´s principle; flexible manipulator; nonlinear control;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Computer Control, 2009. ICACC '09. International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-3330-8
Type
conf
DOI
10.1109/ICACC.2009.39
Filename
4777374
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