Remarks on Dynamics-based Feedforward-Feedback Control of a Single-Link Flexible Arm

被引：0

作者：

Takahashi, Kazuhiko ^{[1
]}

机构：

[1] Doshisha Univ, Informat Syst Design, Kyoto 602, Japan

来源：

PROCEEDINGS OF THE 5TH INTERNATIONAL ASIA CONFERENCE ON INDUSTRIAL ENGINEERING AND MANAGEMENT INNOVATION (IEMI2014) | 2015年

关键词：

Feedforward-feedback controller; flexible arm; inverse Laplace transform; Lyapunov function; passivity; GLOBAL STABILIZATION; MANIPULATORS; PASSIVITY; SYSTEMS;

D O I：

10.2991/978-94-6239-100-0_46

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper investigates a feedforward-feedback controller design, based on the dynamics of a distributed parameter system, which achieves the tip-position control of a single-link flexible arm. A mathematical model of the flexible arm is derived using Hamilton's principle. The feedforward control input is calculated by applying the numerical inversion of the Laplace transform to a inverse dynamic model of the flexible arm. A Lyapunov function related to the total energy of the flexible arm is considered and modified by potential energy shaping to derive the feedback controller. The computational simulations of the control of the flexible arm confirm the feasibility of the derived dynamics-based feedforward-feedback controller.

引用

页码：245 / 249

页数：5

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