Robust trajectory control in the workspace of a class of flexible robots (Q2730995)
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scientific article; zbMATH DE number 1625338
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Robust trajectory control in the workspace of a class of flexible robots |
scientific article; zbMATH DE number 1625338 |
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Robust trajectory control in the workspace of a class of flexible robots (English)
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18 August 2002
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rigid body chain
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flexible beam
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tracking problem
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input-output linearization
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non-minimum-phase system
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indirect adaptive controller
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robustness analysis
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guardian map
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The control problems are considered for mechanical systems composed of two parts: a rigid body chain, and a flexible beam. The input-output linearization approach in tracking problem yields a non-minimum-phase system, and this implies an unbounded internal dynamics. To circumvent this problem, the authors propose indirect adaptive controller. The controller thus obtained is simulated for manipulator having one rigid and one flexible link. The calculation of the controller gains is based on the robustness analysis using the guardian map approach.
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