Long range predictive multivariable control of a two links flexible manipulator

被引：0

作者：

Dion, J.M. ^{[1
]}

Dugard, L. ^{[1
]}

Thi Thanh, T.Nguyen ^{[1
]}

机构：

[1] INPG-CNRS, Saint-Martin d'Heres, France

来源：

Lecture Notes in Control and Information Sciences | 1991年 / 162卷

关键词：

Control systems; Multivariable - Control systems; Predictive - Mathematical techniques--Algorithms - Robots--Manipulators;

D O I：

10.1007/bfb0039275

中图分类号：

学科分类号：

摘要：

In this paper, we are interested in the control of a two degree of freedom flexible arm. The objective is to develop a control algorithm that allows to follow some prespecified reference trajectories. Based on a linear two inputs-two outputs model, the control law proposed should cope with the flexibilities and the couplings between the two links for reasonable displacements. To this end, a long range predictive control with a precompensator is used to decouple with stability and to compensate for the vibration modes. Some experimental results on the flexible arm are given.

引用

页码：229 / 250

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