Affiliation:
1. Department of Mechanical Engineering, Kuwait University, P. O. Box 5969, Safat 13060 Kuwait
Abstract
Controller design for a rigid-flexible two-link manipulator is considered. Robustness of independent joint PD control is investigated. It has been shown that the stability of independent joint PD control does not depend explicitly on the system parameters. No discretization or linearization of the equations of motion is required to assure the stability. Simulation studies also show that independent joint PD control gives reasonably good results for the flexible system, and is robust to parameter uncertainties.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Cited by
50 articles.
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