Title :
Control of manipulator with 2 flexible-links via energy modification method by using modal properties
Author :
Yoshiki, Sugawara ; Ogata, Kazuya ; Kawa, Yoshi Kazu Haya
Author_Institution :
Electron.-Mech. Eng., Nagoya Univ., Japan
Abstract :
In this paper, we show an approach to give control performance specifications to controller derived by Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) method. The closed loop system by such controller has mechanical properties. To evaluate the performance, we construct cost function by using the modal vector of the linearized closed loop system around equilibrium point. Simulation results and numerical analysis show the effectiveness of our approach.
Keywords :
closed loop systems; controllers; flexible manipulators; vectors; 2 flexible-links; Damping Assignment-Passivity Based Control; Interconnection; closed loop system; controller; cost function; energy modification; equilibrium point; linearized closed loop system; manipulator control; mechanical properties; modal properties; modal vector; Closed loop systems; Control systems; Cost function; Damping; Lyapunov method; Manipulator dynamics; Mathematical model; Mechanical factors; Mechanical systems; Vibrations;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225554
