Computer-Aided VSS Control Validation for a Rotating Flexible Link Manipulator Using ANSYS

Niaz Mahmood, Bruce L. Walcott

Research output: Contribution to journalArticlepeer-review


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 languageEnglish
Pages (from-to)54-62
Number of pages9
Issue number1
StatePublished - Jan 1993


  • Flexible link manipulator
  • Switching manifold
  • Variable structure system (VSS) control

ASJC Scopus subject areas

  • Software
  • Modeling and Simulation
  • Computer Graphics and Computer-Aided Design


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