Title :
An energy-based position control and asymptotic stability analysis for manipulator handling a flexible payload
Author :
Liu, Shuyang ; Wang, Zhiqian ; Qiao, Yanfeng ; Xie, Mujun ; Li, Yuanchun
Author_Institution :
State Key Lab. of Automotive, Simulation & Control, Jilin Univ., Changchun, China
Abstract :
In this paper, an exact dynamic model of manipulator handling a flexible payload is derived by Hamiton´s principle. On the basis of the distributed parameter model, a position controller is designed by using Lyapunov function related to the total energy of the system. The controller can achieve the given desired link angles and suppress the vibrations of flexible payload. Using the LaSalle´s invariance principle and the characteristic of the differential operator, the asymptotic stability in the neighbor-hood of the desired states of the closed-loop system is proved. The effectiveness of the control strategy proposed is supported by some simulations.
Keywords :
Lyapunov methods; asymptotic stability; closed loop systems; control system synthesis; differential equations; distributed parameter systems; flexible structures; invariance; manipulator dynamics; position control; vibration control; Hamiton principle; LaSalle invariance principle; Lyapunov function; asymptotic stability analysis; closed-loop system; control strategy; differential operator; distributed parameter model; dynamic model; energy-based position control; flexible payload; link angle; manipulator handling; position controller design; vibration suppression; Asymptotic stability; Eigenvalues and eigenfunctions; Equations; Manipulator dynamics; Mathematical model; Payloads; Asymptotic stability; Distributed parameter model; Flexible payload; LaSalle´s invariance principle;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6359074
