Combined Discrete-Distributed Control of a Single-Link Flexible Manipulator Using a Lyapunov Approach

This paper presents a development of hybrid control strategies for a single-link flexible manipulator. The control system consists of two actuators; a DC servo motor at the joint and a distributed piezoelectric film actuator bonded to the surfaces of the flexible link. Equations of motion considerin...

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Bibliographic Details
Published in:Journal of dynamic systems, measurement, and control measurement, and control, 1999-09, Vol.121 (3), p.448-456
Main Authors: Gu, Min, Asokanthan, Samuel F
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Physics
Robotics
Solid mechanics
Structural and continuum mechanics
Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...)
Vibrations and mechanical waves
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Summary:This paper presents a development of hybrid control strategies for a single-link flexible manipulator. The control system consists of two actuators; a DC servo motor at the joint and a distributed piezoelectric film actuator bonded to the surfaces of the flexible link. Equations of motion considering two control inputs were developed using the generalized Hamilton’s principle. A feedback control law has been developed based on Lyapunov’s direct method and global stability of closed-loop system is guaranteed. A loop-closure technique was introduced to simplify the design procedure for choosing the feedback gains. Simulation and the experimental results were found to be in good agreement and performance improvement obtained using the hybrid control strategy has been demonstrated.
ISSN:0022-0434
1528-9028
DOI:10.1115/1.2802495