Nonlinear tracking control for a lightweight flexible robot

Author

Hisseine, Dadi ; Lohmann, Boris

Author_Institution

Inst. of Autom. Technol., Bremen Univ., Germany

Volume

5

fYear

2000

fDate

2000

Firstpage

3360

Abstract

A robust nonlinear approach to the trajectory tracking control for a lightweight flexible robot manipulator is presented. On the basis of an approximated finite-dimensional nonlinear model, the proposed control law is derived using sliding mode techniques. For the purpose of experimental comparison, we present additionally a two-time scale controller derived using singular perturbation methods. The performance of the presented tracking controllers is demonstrated by experiments carried out with the flexible robot arm, an experimental setup available in our Institute Laboratory

Keywords

flexible manipulators; nonlinear control systems; position control; robust control; singularly perturbed systems; variable structure systems; experiments; finite-dimensional nonlinear model; lightweight flexible robot manipulator; robust nonlinear control; singular perturbation methods; sliding mode techniques; trajectory tracking control; two-time scale controller; Control systems; Lagrangian functions; Lighting control; Manipulator dynamics; Nonlinear control systems; Perturbation methods; Robot control; Sliding mode control; Symmetric matrices; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 2000 IEEE International Conference on

Conference_Location

Nashville, TN

ISSN

1062-922X

Print_ISBN

0-7803-6583-6

Type

conf

DOI

10.1109/ICSMC.2000.886524

Filename

886524