Title :
Adaptive energy-based controllers for a two link flexible manipulator under gravity
Author :
Hosseini, Sanaz ; Fallah, Ali ; Nazari, Mahtab
Author_Institution :
Dept. of Biomed. Eng., Amirkabir Univ. of Technol., Tehran
Abstract :
In this article, two adaptive, energy-based controllers are presented for regulation problem of planar two link flexible manipulator rotating in vertical plane under gravity. The first controller consists of a joint PD controller, an adaptive proportional controller which makes use of link curvature to suppress vibration and gravity compensation term. In second one a Lyapunov-based PD controller substitutes the joint PD. the effectiveness of the proposed controllers are shown and compared in the simulation results.
Keywords :
Lyapunov methods; PD control; adaptive control; flexible manipulators; Lyapunov-based PD controller; adaptive energy-based controllers; adaptive proportional controller; gravity compensation; planar two link flexible manipulator; vibration suppression; Adaptive control; Biomedical engineering; Control systems; Gravity; PD control; Programmable control; Proportional control; Robot kinematics; Transmission line matrix methods; Vibration control; Adaptive; Energy-based controller; Two link flexible; Under gravity;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694583
