Robust regulation of a flexible joint robot manipulator using singular perturbation approach

被引：0

作者：

Amjadifard, R ^{[1
]}

Beheshti, MTH ^{[1
]}

Yazdanpanah, MJ ^{[1
]}

Momeni, HR ^{[1
]}

机构：

[1] Tarbiat Modarres Univ, Fac Engn, Dept Elect Engn, Tehran, Iran

来源：

CCCT 2003, VOL 4, PROCEEDINGS: COMPUTER, COMMUNICATION AND CONTROL TECHNOLOGIES: I | 2003年

关键词：

singularly perturbed systems; robust control; H-infinity controller;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Robot manipulators can be modeled with a class of nonlinear systems. In this paper, we consider a class of nonlinear singularly perturbed systems, which are affine in fast states and inputs. First, using normal form equations, we eliminate the nonlinear part of the system matrix of equations of the reduced system and transform it to a linear diagonal form and design an H,, controller for a system with a lower order than the original one. The composite controller that is applied to the original singularly perturbed system, consists of this H. controller and a controller that is designed for the fast subsystem. The proposed method is applied to a single link flexible joint robot manipulator.

引用

页码：364 / 368

页数：5

共 50 条

[21] On the Basis of the Singular Perturbation Approach to Control a Two-link Constrained Flexible Manipulator
李元春
HighTechnologyLetters, 2001, (03) : 90 - 92
[22] Singular Perturbation Approach based Boundary Control of a Flexible Manipulator with High Gain Observer
Liu, Zhijie
Yang, Hongjun
Yang, Yan
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 4479 - 4484
[23] On the basis of the singular perturbation approach to control a two-link constrained flexible manipulator
Li, Y.
Liu, K.
Hong, T.
Chen, Q.
High Technology Letters, 2001, 7 (03) : 90 - 92
[24] Trajectory-tracking, control of a multiple flexible joint robot based on singular perturbation
Dai, JH
Gu, E
ROBOTICS, AUTOMATION AND CONTROL AND MANUFACTURING: TRENDS, PRINCIPLES AND APPLICATIONS, 2002, 14 : 77 - 82
[25] Application of singular perturbation approach in trajectory tracking control of two-link flexible manipulator
Li, XG
Liu, JY
Lei, X
Zhang, QG
PROCEEDINGS OF THE 3RD WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-5, 2000, : 3736 - 3740
[26] FLEXIBLE-LINK ROBOT ARM CONTROL BY A FEEDBACK LINEARIZATION SINGULAR PERTURBATION APPROACH
VANDEGRIFT, MW
LEWIS, FL
ZHU, SQ
JOURNAL OF ROBOTIC SYSTEMS, 1994, 11 (07): : 591 - 603
[27] Nonparametric Identification of Robot Flexible Joint Space Manipulator
Krzyzak, Adam
Sasiadek, Jerzy Z.
Ulrich, Steve
2012 17TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR), 2012, : 172 - 177
[28] Modeling and simulation of flexible robot manipulator with a prismatic joint
Basher, Hasanul A.
PROCEEDINGS IEEE SOUTHEASTCON 2007, VOLS 1 AND 2, 2007, : 255 - 260
[29] Design, dynamics, and identification of a flexible joint robot manipulator
Massoud, AT
ElMaraghy, HA
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 1996, 11 (01): : 22 - 35
[30] Design, dynamics, and identification of a flexible joint robot manipulator
Massoud, A.T.
El Maraghy, H.A.
International Journal of Robotics and Automation, 1996, 11 (01): : 22 - 35

← 1 2 3 4 5 →