An optimal switched compensation controller for flexible-link manipulators
1998 American Control Conference, ACC 1998, Philadelphia, PA, United States Of America, 24 - 26 June 1998, vol.3, pp.1804-1808, (Full Text)
- Publication Type: Conference Paper / Full Text
- Volume: 3
- Doi Number: 10.1109/acc.1998.707327
- City: Philadelphia, PA
- Country: United States Of America
- Page Numbers: pp.1804-1808
- Yıldız Technical University Affiliated: Yes
Abstract
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.