Title :
Adaptive sliding mode control with filtered signals of two manipulators handling a flexible payload
Author :
Xu Jing ; Tang Zhiguo ; Ren Xiaolin ; Li Yuanchun
Author_Institution :
State Key Lab. of Automobile Dynamic Simulation, Jilin Univ., Changchun, China
Abstract :
Two manipulators rigidly handling a flexible payload to track a predefined trajectory. The control law provides robustness against model parameters uncertainties and external disturbances. To suppress the elastic vibration, an adaptive optimal controller is designed. Implicit proof of the system stability is provided via Lyapunov Stability Theory. Finally, the cooperating control input is shown through two-time scale transform. Simulation results for two three-link manipulators handling a flexible beam are presented to validate the theoretical results.
Keywords :
Lyapunov methods; adaptive control; beams (structures); control system synthesis; filtering theory; finite element analysis; manipulator dynamics; multi-robot systems; optimal control; position control; robust control; transforms; uncertain systems; variable structure systems; vibration control; Lyapunov stability theory; adaptive optimal controller design; adaptive sliding mode control; cooperating control input; dual-manipulator cooperative system; elastic vibration suppression; external disturbance; filtered signal; flexible beam handling; flexible payload handling; model parameter uncertainty; predefined trajectory tracking; robustness; system stability; three-link manipulators; two-time scale transform; Equations; Manipulator dynamics; Mathematical model; Payloads; Trajectory; Vibrations; Adaptive Sliding Mode Control; Finite Element Method; Flexible Payload; Low Pass Filter; Singular Perturbation;
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768
