A novel switched compensation controller for multi-link flexible manipulators

ÖZEN F.

4th European Control Conference, ECC 1997, Brussels, Belçika, 1 - 04 Temmuz 1997, ss.2210-2215, (Tam Metin Bildiri) identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.23919/ecc.1997.7082433
  • Basıldığı Şehir: Brussels
  • Basıldığı Ülke: Belçika
  • Sayfa Sayıları: ss.2210-2215
  • Anahtar Kelimeler: Flexible structures, Nonlinear control, Robotics
  • Yıldız Teknik Üniversitesi Adresli: Evet

Özet

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.