Optimal nonlinear controller design for flexible robot manipulators with adaptive internal model

被引：38
作者：
Dogan, M. [1 ]
Istefanopulos, Y.
机构：
[1] Baskent Univ, Dept Elect & Elect Engn, TR-06490 Ankara, Turkey
[2] Isik Univ, Dept Elect & Elect Engn, Istanbul, Turkey
来源：
IET CONTROL THEORY AND APPLICATIONS | 2007年 / 1卷 / 03期
关键词：
D O I：
10.1049/iet-cta:20050272
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Developing nonlinear adaptive and robust controllers for a 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. However, the control of highly nonlinear multi-link flexible arms is subject to uncertainties caused by backlash, payload changes and external disturbances. Therefore adaptive and robust control of multi-link flexible arms is a challenging problem. The internal model approach is adaptively tuned up for unknown disturbances, parallel with a robust stabiliser. The stabiliser part of the controller is optimised with a new evolutionary algorithm.
引用
收藏
页码：770 / 778
页数：9
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