Tip tracking control of a single-link flexible robot: A backstepping approach
adaptive controllerbacksteppingbeamglobal uniform ultimate boundednesssingle-link flexible robotspring-mass systemtip tracking
Rods (beams, columns, shafts, arches, rings, etc.) (74K10) Control, switches and devices (``smart materials) in solid mechanics (74M05) Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)
The purpose of this important paper, tip tracking control, is investigated for a single-link flexible robot. The flexible beam is first lumped to a spring-mass system to which the so-called backstepping approach is applicable; then, two robust controllers and an adaptive controller are developed in the presence of system disturbances/uncertainties. The main result is the following: The controllers are rigorously proven to be able to achieve stable tip position and velocity tracking control in the sense of global uniform ultimate boundedness. Finally, the authors present numerical simulation results which show that the proposed controllers are effective.
- A quasi-tracking approach for finite-time control of a mass-beam system
- Oscillation elimination of tip regulation for a single-link flexible manipulator
- On tracking control of flexible robot arms
- Contril of rigid‐link, flexible‐joint robots:a survey of backstepping approaches
- Tip position control of flexible single‐link manipulators in the frequency domain without model reduction
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