Title :
Adaptive nonlinear control of one-link flexible arm
Author :
Ham, Woorichul ; Lee, Ju-Jang
Author_Institution :
Dept. of Electronic Eng. Chonbuk Nat. Univ., Chonju, Korea
Abstract :
When a flexible arm is rotated by a motor about an axis through the arm´s fixed end, transverse vibration may occur. The motor torque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested at the end of rotation. In this paper, the authors propose deterministic and adaptive control laws for one-link flexible arm. Using the fact that matrix dD(δ)/dt-2C(θ, θ˙, δ, δ˙) is skew symmetric, controllers which have a simplified structure with less computational burden are proposed by using Lyapunov stability theory
Keywords :
adaptive control; Lyapunov stability theory; deterministic control; one-link flexible arm; skew symmetrix matrix; transverse vibration; Adaptive control; Equations; Optimal control; Orbital robotics; Payloads; Programmable control; Robot control; Service robots; Stability; Torque;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.582991