Title :
Combining a feedback linearization approach with input shaping for flexible manipulator control
Author :
Liu, Ke-ping ; You, Wen ; Li, Yuan-chun
Author_Institution :
Sch. of Electr. & Electron. Eng., Changchun Univ. of Technol., China
Abstract :
A feedback linearization combined with input shaping control approach is proposed for flexible manipulators in this paper. The dynamics of single link flexible manipulators is partially linearized using feedback linearization scheme. Meanwhile, the control scheme is combined with an input shaper for vibration suppression. The reference input signals are pre-shaped to suppress the tip vibration. Simulation results have confirmed the effectiveness of the proposed control method.
Keywords :
feedback; flexible manipulators; linearisation techniques; shape control; vibration control; feedback linearization; input shaping control; single link flexible manipulators control; vibration suppression; Adaptive control; Feedback control; Linear feedback control systems; Manipulator dynamics; Neural networks; Nonlinear dynamical systems; Nonlinear equations; Shape control; Trajectory; Vibration control;
Conference_Titel :
Machine Learning and Cybernetics, 2003 International Conference on
Print_ISBN :
0-7803-8131-9
DOI :
10.1109/ICMLC.2003.1264541
