Abstract
This paper presents a design methodology for controllers of flexible structures based on uncertain modeling techniques. The particular problem which is addressed is the control of a single flexible link planar manipulator. An extremely simple control strategy is derived by treating the effects of compliance as an uncertain torque about which no a priori knowledge is assumed other than a bound. However, because the torque is modeled as an uncertainty, we must perform computer-aided validation of our design using a finite-element model for our manipulator. Hitherto, the finite- element package ANSYS has been widely used as a modeling/analysis tool for flexible structures. However, developments in the ANSYS (version 4.3 and later) allow the interfacing of external programs with the analysis package, thereby enabling closed- loop control strategies to be tested.
Original language | English |
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Pages (from-to) | 54-62 |
Number of pages | 9 |
Journal | Simulation |
Volume | 60 |
Issue number | 1 |
DOIs | |
State | Published - Jan 1993 |
Keywords
- Flexible link manipulator
- Switching manifold
- Variable structure system (VSS) control
ASJC Scopus subject areas
- Software
- Modeling and Simulation
- Computer Graphics and Computer-Aided Design