DocumentCode :
490599
Title :
Adaptive Nonlinear Control and Input Preshaping for Flexible-Link Manipulators; Control/Robotics Research Laboratory (CRRL)
Author :
Khorrami, Farshad ; Jain, Sandeep ; Tzes, Anthony
Author_Institution :
Department of Electrical Engineering, Polytechnic University, Brooklyn, NY 11201
fYear :
1993
fDate :
2-4 June 1993
Firstpage :
2705
Lastpage :
2710
Abstract :
Adaptive input precompensators in conjunction with nonlinear controllers for flexible-link manipulators are considered in this paper. The objective is to adaptively tune the parameters of the input preshaping scheme and the rigid-body based nonlinear inner-loop controller so that a vibration free output is achieved for payload variations and parameter uncertainties. Estimation of the vibrational modes and payload is done using the Empirical Transfer Function Estimate (ETFE) system identification algorithm. Experimental results on a two-link flexible manipulator with adaptive nonlinear control and preshaping are provided to show the effectiveness of the advocated controllers.
Keywords :
Adaptive control; Laboratories; Manipulators; Payloads; Programmable control; Robot control; System identification; Transfer functions; Uncertain systems; Vibration control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3
Type :
conf
Filename :
4793387
Link To Document :
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