Title :
Robust Control of Cooperating Flexible Manipulators Based on Distributed Parameter Model
Author :
Cao, Xiaotao ; Li, Yuanchun
Author_Institution :
Dept. of Control Sci. & Eng., Jilin Univ., Changchun
Abstract :
In this paper, the distributed parameter dynamical model of cooperating flexible manipulators is derived. The obtained distributed parameter model is divided into a lumped parameter subsystem and a distributed parameter subsystem via the singular perturbation method. A combined cooperative control algorithm is proposed which include a robust hybrid controller for the lumped parameter subsystem to track the desired position/force and a distributed parameter feedback controller for the distributed parameter subsystem to suppress the vibration. Stabilization analysis and numerical simulations are carried out and a significant performance is well demonstrated
Keywords :
distributed parameter systems; flexible manipulators; robust control; singularly perturbed systems; cooperating flexible manipulator; cooperative control; distributed parameter dynamical model; distributed parameter feedback controller; distributed parameter subsystem; force tracking; lumped parameter subsystem; numerical simulation; position tracking; robust control; robust hybrid controller; singular perturbation method; stabilization analysis; vibration suppression; Adaptive control; Force control; Force feedback; Manipulator dynamics; Numerical simulation; Performance analysis; Perturbation methods; Robust control; Space technology; Vibration control; Cooperative control; Distributed parameter model; Flexible manipulator; Singular perturbation method;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1712572
