Vibration control of flexible robotic arms using robust model matching control

被引：0
|
作者：
Ishihata, K [1 ]
Lu, JM [1 ]
Yahagi, T [1 ]
机构：
[1] Chiba Univ, Grad Sch Sci & Technol, Inage Ku, Chiba 2638522, Japan
来源：
PCC-OSAKA 2002: PROCEEDINGS OF THE POWER CONVERSION CONFERENCE-OSAKA 2002, VOLS I - III | 2002年
关键词：
Vibration control; Flexible robotic arm; Model matching control; Unmodeled dynamics; Nonminimum phase system;
D O I：
暂无
中图分类号：
TE [石油、天然气工业]; TK [能源与动力工程];
学科分类号：
0807 ; 0820 ;
摘要：
We present a new method for the vibration control of flexible robotic arms using robust model matching control strategy. To reduce the order of the compensator the rigid-body mode and the first flexible mode are considered as nominal model. The other flexible modes are considered as unmodeled dynamics. The method is suitable to robustly control the nominal model in the presence of unmodeled flexible dynamics and achieve the desired model matching simultaneously. To apply the model matching strategy to flexible arms such that the nominal model is nonminimum phase, inverse systems of the unstable polynomials are utilized. Moreover, the sufficient condition for stabilizing the nominal model in the presence the unmodeled flexible dynamics is derived. Finally, computer simulation results are presented.
引用
收藏
页码：907 / 911
页数：3
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