Inversion-Based Nonlinear End-Tip Control of Flexible Arm in Presence of Large Model Uncertainties

Author

Soltani, Ehsan ; Naraghi, Mahyar

Author_Institution

Amirkabir Univ. of Technol., Tehran

fYear

2006

fDate

Dec. 2006

Firstpage

1

Lastpage

6

Abstract

Achieving suitable performance in end-tip trajectory tracking while saving suitable margin of stability for flexible-arm system in presence of large model uncertainties is a very complicated task, because moving new output toward the end-tip, while using output-redefinition method, in order to increase tracking quality decreases system´s margin of stability. So large model uncertainties or large controller gains causes the system to leave the local region of stable internal dynamics. In this paper, power limiter system (PLS) is combined with time-delay controller (TDC) to guarantee stability of system in presence of large unstructured model uncertainties. The proposed controller is also compared with indirect adaptive linearizing controller

Keywords

delay systems; flexible manipulators; nonlinear control systems; position control; stability; tracking; adaptive linearizing controller; end-tip trajectory tracking; flexible arm system; inversion-based control; large model uncertainty; nonlinear end-tip control; output-redefinition method; power limiter system; stability; stable internal dynamics; time-delay controller; Control system synthesis; Control systems; Error correction; Nonlinear control systems; Nonlinear equations; Power system modeling; Sliding mode control; Stability; Trajectory; Uncertainty; flexible-arm; inversion-based control; large model uncertainty; power limiter system; time-delay control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252668

Filename

4018784