NDLI: An integral manifold approach for tip-position tracking of flexible multi-link manipulators

Content Provider	IEEE Xplore Digital Library
Author	Moallem, M. Khorasani, K. Patel, R.V.
Copyright Year	1989
Abstract	In this paper, a nonlinear control strategy for tip position trajectory tracking of a class of structurally flexible multilink manipulators is developed. Using the concept of integral manifolds and singular perturbation theory, the full-order flexible system is decomposed into corrected slow and fast subsystems. The tip-position vector is similarly partitioned into corrected slow and fast outputs. To ensure an asymptotic tracking capability, the corrected slow subsystem is augmented by a dynamical controller in such a way that the resulting closed-loop zero dynamics are linear and asymptotically stable. The tracking problem is then redefined as tracking the slow output and stabilizing the corrected fast subsystem by using dynamic output feedback. Consequently, it is possible to show that the tip position tracking errors converge to a residual set of O(/spl epsiv//sup 2/), where /spl epsiv/ is the singular perturbation parameter. A major advantage of the proposed strategy is that the only measurements required are the tip positions, joint positions, and joint velocities. Experimental results for a single-link arm are also presented and compared with the case when the slow control is designed based on the rigid-body model of the manipulator.
Starting Page	823
Ending Page	837
Page Count	15
File Size	612312
File Format	PDF
ISSN	1042296X
Volume Number	13
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-12-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Manipulator dynamics Acceleration Vectors Output feedback Position measurement Velocity measurement Control systems Linear systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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