Nonlinear Control of Multibody Flexible Mechanisms: A Model-Free Approach

被引:13
作者
Boscariol, Paolo [1 ]
Scalera, Lorenzo [2 ]
Gasparetto, Alessandro [2 ]
机构
[1] Univ Padua, Dept Management & Engn, I-36100 Vicenza, Italy
[2] Univ Udine, Polytech Dept Engn & Architecture, I-33100 Udine, Italy
来源
APPLIED SCIENCES-BASEL | 2021年 / 11卷 / 03期
关键词
nonlinear control; flexible mechanism; dynamic modeling; fractional control; PREDICTIVE CONTROL; VIBRATION CONTROL; DYNAMIC-ANALYSIS; LINK MANIPULATOR; SYSTEMS; ROBUST; TRACKING; POSITION; DESIGN; ROBOTS;
D O I
10.3390/app11031082
中图分类号
O6 [化学];
学科分类号
0703 ;
摘要
In this paper a novel nonlinear controller for position and vibration control of flexible-link mechanisms is introduced. The proposed control strategy is model-free and does not require the measurement of the elastic deformation of the mechanism, since the control relies only on the knowledge of the angular position of the actuator and on its time derivative, which can be measured simply with a quadrature encoder. The conditions for the closed-loop stability are evaluated using Lyapunov theory. The performance of the proposed technique is evaluated on a four-bar flexible-link mechanism. Superior vibration damping and more accurate trajectory tracking is obtained in comparison with a PD controller and a fractional order controller, which relies on the same set of measurement as the proposed nonlinear controller.
引用
收藏
页码:1 / 14
页数:14
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