Title :
Distributed parameter model and cooperative control of manipulators handling a flexible payload
Author :
Tang, Zhiguo ; Li, Yuanchun
Author_Institution :
State Key Lab. of Automobile Dynamic Simulation, Jilin Univ., Changchun, China
Abstract :
The distributed parameter dynamic model for two manipulators handling a flexible payload is proposed by Hamilton´s principle. A composite controller is designed based on singular perturbation model with external disturbances and parameters uncertainties, where an adaptive fuzzy sliding mode controller is presented for the slow lumped subsystem. The control algorithm can realize desired position control and update some values of parameters effectively, comparing with the conventional sliding mode control method. A sliding mode controller is designed to suppress the elastic vibration for the slow distributed subsystem. Finally, the cooperative control input is shown through dual-time scale transform. Numerical simulation results validate the modeling method and control law.
Keywords :
adaptive control; control system synthesis; fuzzy control; manipulator dynamics; position control; singularly perturbed systems; variable structure systems; Hamilton principle; adaptive fuzzy sliding mode controller; composite controller; cooperative control; distributed parameter dynamic model; dual time scale transform; elastic vibration suppression; external disturbances; flexible payload; manipulators handling; parameters uncertainties; position control; singular perturbation model; slow distributed subsystem; slow lumped subsystem; Manipulator dynamics; Mathematical model; Payloads; Trajectory; Vibrations; adaptive fuzzy sliding mode control; distributed parameter; flexible payload; manipulator; singular perturbation;
Conference_Titel :
Natural Computation (ICNC), 2010 Sixth International Conference on
Conference_Location :
Yantai, Shandong
Print_ISBN :
978-1-4244-5958-2
DOI :
10.1109/ICNC.2010.5582901