Title :
A novel switched compensation controller for multi-link flexible manipulators
Abstract :
We present a novel control algorithm for multi-link flexible planar manipulators. The proposed scheme is a switching rule between a new nonlinear controller and a conventional PD (proportional and derivative) controller. We prove the stability of the controller using La Salle´s theorem. Simulation results illustrate the improvement over PD controller.
Keywords :
compensation; flexible manipulators; nonlinear control systems; stability; switching systems (control); La Salle´s theorem; PD controller; controller stability; multilink flexible planar manipulators; nonlinear controller; proportional derivative controller; switched compensation controller; switching rule; Actuators; Joints; Manipulator dynamics; PD control; Switches; Flexible structures; nonlinear control; robotics;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
