Title :
Adaptive robust control for flexible manipulators
Author :
Yang, Jung-Hua ; Lian, Feng-Li ; Fu, Li-Chen
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
Because the control DOF (Degree of Freedom) is much less than the motion DOF when a flexible manipulator is commanded to track a desired trajectory, many control strategies that succeed in conventional rigid-robot control cannot be directly applied to solve the flexible robot control problem. In this work, an adaptive variable structure scheme has been proposed to solve such a problem. The full nonlinear dynamics of the whole system are all taken into account for the control design. To alleviate the chattering phenomenon commonly seen in variable structure type of control, a saturation type adaptive scheme has also been proposed. For verification of the effectiveness of the proposed controller, a two-link flexible manipulator is built up and the promise of the controller is experimentally demonstrated
Keywords :
adaptive control; flexible structures; manipulators; motion control; robust control; variable structure systems; adaptive robust control; adaptive variable structure scheme; chattering phenomenon; control DOF; control design; flexible manipulators; full nonlinear dynamics; motion DOF; saturation type adaptive scheme; trajectory tracking; Adaptive control; Control design; Manipulator dynamics; Motion control; Nonlinear dynamical systems; Programmable control; Robot control; Robust control; Tracking; Trajectory;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525447