Akademik Veri Yönetim Sistemi
1998 American Control Conference, ACC 1998, Philadelphia, PA, Amerika Birleşik Devletleri, 24 - 26 Haziran 1998, cilt.3, ss.1804-1808, (Tam Metin Bildiri)
A new control strategy for trajectory tracking of the tips of the flexible-link manipulators is presented. The control law utilizes only easily obtainable quantities: joint angles and their rates, endpoint deflections of each link and their rates. The control law is an optimal switching rule between a conventional PD controller and a new nonlinear controller, which is developed for the planar, multi-link elastic manipulator case. The stability of the controller is proved using La Salle's theorem. The results are compared with a conventional PD controller for a single-link flexible manipulator. The simulation results indicate that the proposed controller performs much better than the conventional PD controller with the same proportional and differential gain set. © 1998 AACC.