Title :
A modal feedback control law for vibration control of multi-link flexible robots
Author :
Yang, H. ; Krishnan, H. ; Ang, M.H.
Author_Institution :
Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore
Abstract :
Presents a modal feedback controller for vibration control of multi-link flexible robots. The controller is based on independent joint PD control and modal feedback. The asymptotic stability of the proposed control scheme has been proved via Lyapunov stability theory. Both the design procedure and the implementation of the controller are simple. Simulation results confirm the good performance of the controller
Keywords :
Lyapunov methods; asymptotic stability; control system synthesis; feedback; robots; two-term control; vibration control; Lyapunov stability theory; asymptotic stability; independent joint PD control; modal feedback control law; multi-link flexible robots; vibration control; Adaptive control; Asymptotic stability; Feedback control; Lyapunov method; Motion control; Optimal control; PD control; Robot control; Shape control; Vibration control;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.707331
