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
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;
Conference_Titel :
Advanced Computer Control, 2009. ICACC '09. International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-3330-8
DOI :
10.1109/ICACC.2009.39
