Fast and slow control laws for a two-link non-linear manipulator

Author

Basu, K. ; Rastgoufard, P. ; Nallan, H.C.

Author_Institution

Dept. of Electr. Eng., Tulane Univ., New Orleans, LA, USA

fYear

1994

fDate

20-22 Mar 1994

Firstpage

328

Lastpage

332

Abstract

The method of singular perturbations is utilized in reducing the order of the mathematical models representing the robot arm dynamics. The model reduction takes place by identifying the fast and slow dynamics of the original robot arm. Two separate control laws for the slow and the fast subsystems are identified. The slow subsystem control law is related to the desired position of the robot arm and the fast subsystem control law is developed by minimizing a performance measure that is a function of the fast variables in the system. The developed slow and fast control laws are utilized in generating a composite control law for a two link manipulator

Keywords

manipulators; nonlinear control systems; perturbation techniques; position control; fast dynamics; fast subsystem control; mathematical models; model reduction; performance measure; position control; robot arm dynamics; singular perturbations; slow dynamics; slow subsystem control; two link nonlinear manipulator; Actuators; Control systems; Electric variables control; Laboratories; Manipulator dynamics; Mathematical model; Nonlinear dynamical systems; Position measurement; Reduced order systems; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 1994., Proceedings of the 26th Southeastern Symposium on

Conference_Location

Athens, OH

ISSN

0094-2898

Print_ISBN

0-8186-5320-5

Type

conf

DOI

10.1109/SSST.1994.287858

Filename

287858