Title :
Vibration control of a flexible single-link robot: A backstepping controller for distributed parameter systems
Author :
Muller, Peter A. ; Liu, Steven
Author_Institution :
Inst. of Control Syst., Univ. of Kaiserslautern, Kaiserslautern, Germany
Abstract :
In this paper, a two-degree-of-freedom-control concept for a flexible single-link robot is considered offering trajectory tracking as well as vibration damping. The robot - a flexible link with tip mass attached to a moving cart - is modeled as distributed parameter system including structural damping. The proposed forward controller is designed based on the exact modal approximation of the system dynamics. Based on the infinite dimensional error dynamics formulated in strict feedback form, a backstepping controller is designed that guarantees passivity. Input Shaping is used for planning the desired trajectories. Measurement results at a laboratory experiment show the feasibility of this approach.
Keywords :
approximation theory; control nonlinearities; control system synthesis; damping; distributed parameter systems; feedback; flexible manipulators; trajectory control; vibration control; backstepping controller design; distributed parameter system; feedback form; flexible single-link robot; forward controller design; modal approximation; structural damping; trajectory tracking; vibration control; vibration damping; Approximation methods; Damping; Distributed parameter systems; Feedforward neural networks; Robots; Trajectory; Vibrations; Approximation methods; Lyapunov methods; distributed parameter systems; mechatronics; modal analysis; motion control; partial differential equations; robot control; sensor fusion; vibration control;
Conference_Titel :
Industrial Electronics Society, IECON 2014 - 40th Annual Conference of the IEEE
DOI :
10.1109/IECON.2014.7048919
