Title :
Nonlinear sampled control laws of a robot with flexible links
Author :
Barbot, J.-P. ; Maschke, B. ; Servettaz, G.
Author_Institution :
Lab. des Signaux et Syst., CNRS, Gif-sur-Yvette, France
Abstract :
A model of a flexible structure composed of two links, considered as Euler-Bernouilli beams and spatially discretized using the assumed mode method is briefly presented. A continuous-time nonlinear control law is recalled, which decouples nd linearizes the input output behaviour. The implementation of this control law requires the introduction of a digital computer generating a sampled control law. Holding the continuous-time control during each sampling interval leads, in the case considered here, to the loss of the stability properties. Therefore different nonlinear discrete-time control laws are used: they are based on discretization procedures obtained by means of the exponential of formal Lie derivatives.<>
Keywords :
discrete time systems; nonlinear control systems; robots; sampled data systems; stability; Euler-Bernouilli beams; Lie derivatives; continuous-time nonlinear control law; discretization; flexible links; flexible structure; nonlinear discrete-time control; robot; sampled control laws; stability; Bonding; Boundary conditions; Eigenvalues and eigenfunctions; Flexible structures; Payloads; Sampling methods; Service robots; Stability; Torque control; Vibration control;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240461
