DocumentCode :
3469848
Title :
Design of a Flexible Manipulator controller Based on Input-output Linearization
Author :
Sun, Ying ; Wu, Runzhi ; Cheng, Fangxiao ; Yu, Lan
Author_Institution :
Changchun Univ. of Technol., Changchun
fYear :
2007
fDate :
18-21 Aug. 2007
Firstpage :
586
Lastpage :
590
Abstract :
Basing on input-output linearization strategy, a model of the flexible manipulator can be decomposed into an input-output subsystem and a zero-dynamics subsystem. A fuzzy control is used to input-output subsystem. By analyzing the relationship between the eigenvalues of the zero-dynamics subsystem and the designed parameters in the output of the redefined system, the designed parameters are determined, and guarantee the zero-dynamics to be asymptotically stable at equilibrium point, thus guarantee the whole flexible manipulator system to be asymptotically stable.
Keywords :
eigenvalues and eigenfunctions; flexible manipulators; fuzzy control; linearisation techniques; asymptotically stable; eigenvalues; flexible manipulator; fuzzy control; input-output linearization; Control systems; Design automation; Design engineering; Eigenvalues and eigenfunctions; Fuzzy control; Logistics; Manipulator dynamics; Space technology; Sun; Time varying systems; Flexible manipulator; Fuzzy control; Input-output linearization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation and Logistics, 2007 IEEE International Conference on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-1531-1
Type :
conf
DOI :
10.1109/ICAL.2007.4338632
Filename :
4338632
Link To Document :
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