Control of a one-link flexible manipulator via Lyapunov methods

Cao Yong; Bruce L. Walcott

doi:10.1109/icsyse.1989.48740

Control of a one-link flexible manipulator via Lyapunov methods

Cao Yong, Bruce L. Walcott

Electrical and Computer Engineering

Research output: Contribution to conference › Paper › peer-review

2 Scopus citations

Abstract

A dynamic model and subsequent control strategy for a lightweight, flexible manipulator which rotates in the horizontal plane is presented. The model, which can be derived directly, is composed of a dominant deterministic component plus a small uncertain part which represents the effects of compliance. A stabilizing controller based on the model is designed via Lyapunov techniques to control the tip position of the link. The simplicity of the model and ease of controller design are emphasized. Also presented are computer simulation results which demonstrate the effectiveness of this model and control design methodology.

Original language	English
Pages	575-579
Number of pages	5
DOIs	https://doi.org/10.1109/icsyse.1989.48740
State	Published - 1989
Event	IEEE International Conference on Systems Engineering - Fairborn, OH, USA Duration: Aug 24 1989 → Aug 26 1989

Conference

Conference	IEEE International Conference on Systems Engineering
City	Fairborn, OH, USA
Period	8/24/89 → 8/26/89

ASJC Scopus subject areas

General Engineering

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10.1109/icsyse.1989.48740

Cite this

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abstract = "A dynamic model and subsequent control strategy for a lightweight, flexible manipulator which rotates in the horizontal plane is presented. The model, which can be derived directly, is composed of a dominant deterministic component plus a small uncertain part which represents the effects of compliance. A stabilizing controller based on the model is designed via Lyapunov techniques to control the tip position of the link. The simplicity of the model and ease of controller design are emphasized. Also presented are computer simulation results which demonstrate the effectiveness of this model and control design methodology.",

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AB - A dynamic model and subsequent control strategy for a lightweight, flexible manipulator which rotates in the horizontal plane is presented. The model, which can be derived directly, is composed of a dominant deterministic component plus a small uncertain part which represents the effects of compliance. A stabilizing controller based on the model is designed via Lyapunov techniques to control the tip position of the link. The simplicity of the model and ease of controller design are emphasized. Also presented are computer simulation results which demonstrate the effectiveness of this model and control design methodology.

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Control of a one-link flexible manipulator via Lyapunov methods

Abstract

Conference

ASJC Scopus subject areas

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