Author:
Konno Atsushi,Deman Liu,Uchiyama Masaru
Abstract
This paper focuses on using a singularly perturbed approach to
derive a vibration damping control law in which a pole
assignment feedback method is utilized. The composite control system is
characterized by two components which can be computed separately. The
one is Cartesian-based PI control which drives the end-effector of
a flexible manipulator to track the desired time-based trajectory. The
other is pole assignment feedback control which damps out vibrations
during and at the end of trajectory tracking. An advantage
of this composite control method in real implementation is that
it does not require a derivative of the end-effector's position,
and the derivatives of signals from the strain gauges. From
the characteristics and implementation points of view, it appears to
be simple to use. Laboratory experiments were conducted to evaluate
the performance of the proposed control method.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
7 articles.
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