Nonlinear control of two-link flexible arm with adaptive internal model

被引：7

作者：

Dogan, M ^{[1
]}

Istefanopulos, Y ^{[1
]}

Diktas, ED ^{[1
]}

机构：

[1] Bogazici Univ, Dept Elect & Elect Engn, Bebek, Turkey

来源：

ICM '04: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS 2004 | 2004年

关键词：

D O I：

10.1109/ICMECH.2004.1364454

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Developing Nonlinear adaptive and robust controller for two-link flexible robot arm is the main objective of this research. The dynamic state feedback controller is used to achieve robust regulation of the rigid modes as well as suppression of elastic vibrations. Modelling of highly nonlinear multi-link flexible arms is subject to uncertainties such that imperfect modelling. backlash, payload changes and external disturbances. Therefore, adaptive control of multi-link flexible arms is a challenging Problem.In this paper, the internal model approach is adaptively tuned up for unknown disturbances, parallel with the robust stabilizer.

引用

页码：292 / 298

页数：7

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