PDE modeling and control of a flexible two-link manipulator

被引：83

作者：

Zhang, XP ^{[1
]}

Xu, WW

Nair, SS

Chellaboina, V

机构：

[1] Lehigh Univ, Bethlehem, PA 18015 USA

[2] Clique Commun, Hopewell, NJ USA

[3] Univ Missouri, Dept Aerosp & Mech Engn, Columbia, MO 65211 USA

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2005年 / 13卷 / 02期

关键词：

flexible manipulator; Lyapunov methods; nonlinear control; partial differential equations (PDEs); passive filters; robot dynamics; system modeling;

D O I：

10.1109/TCST.2004.842446

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A partial differential equation (PDE) model for a flexible two-link manipulator is derived and transformed to a form appropriate for the development of stable control designs. Stable control of this nonlinear infinite dimensional two-link system is then achieved by a novel control design developed using passivity and Lyapunov-based methods. A two-link hardware experimental setup is used to validate the analytical PDE model and the proposed stable control design scheme.

引用

页码：301 / 312

页数：12

共 17 条

[1] CHAOTIC VIBRATIONS OF BEAMS - NUMERICAL-SOLUTION OF PARTIAL-DIFFERENTIAL EQUATIONS [J].