Title :
Liapunov stability analysis for PDS control of flexible multi-link manipulators
Author :
Lee, Ho Gil ; Arimoto, Suguru ; Miyazaki, Fumio
Author_Institution :
Dept. of Mech. Eng., Osaka Univ., Toyonaka, Japan
Abstract :
For flexible multilink manipulators, a nonlinear lumped-parameter model including centrifugal and Coriolis forces is derived on the basis of Hamilton´s principle and Galerkin´s modal expansion method. A control scheme called PDS (proportional-derivative-strain) control is proposed, which is composed of a conventional PD control and feedback of strain detected at the root of each link. Stability conditions of the closed-loop system are obtained by using the moment equilibrium equation for the root of each link and the direct method of Liapunov. Effects of stabilization of this PDS control scheme are discussed for a linearized model. Experimental results are provided to illustrate the effectiveness of the proposed PDS control
Keywords :
Lyapunov methods; closed loop systems; multivariable systems; robots; stability; three-term control; Coriolis forces; Galerkin´s modal expansion method; Hamilton´s principle; Liapunov stability analysis; PD control; PDS control; centrifugal forces; closed-loop system; feedback; flexible multi-link manipulators; nonlinear lumped-parameter model; proportional derivative strain control; robots; three term control; Capacitive sensors; Control systems; Equations; Feedback; Manipulator dynamics; Moment methods; Nonlinear dynamical systems; PD control; Stability analysis; Strain control;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194272
