NDLI: Unified predictive control of contact force in flexible link manipulators

Content Provider	IEEE Xplore Digital Library
Author	Alasty, A. Vukovich, G.
Copyright Year	1996
Description	Author affiliation: Dept. of Mech. & Aerosp. Eng., Carleton Univ., Ottawa, Ont., Canada (Alasty, A.)
Abstract	Using the modal expansion method the dynamics of a flexible link for constrained and unconstrained motion is modeled, assuming stiff contact. The noncolocated actuator/sensor configuration and the dispersive behavior of the link lateral vibrations produce nonminimum phase (NMP) transfer function. The class of model-based predictive controllers (MBPC) have been quite successful at overcoming many of the well-known difficulties inherent to NMP systems, and among the various model-based predictive controllers, unified predictive control(UPC) was selected in this paper. Simulation results suggest that the UPC designed for the system in contact with its environment, will perform well even in presence of serious joint stiction and contact discontinuity. The results also show a very good improvement in performance and command following of the controlled system over conventional approaches.
Starting Page	303
Ending Page	308
File Size	589741
Page Count	6
File Format	PDF
ISBN	0780329759
DOI	10.1109/CCA.1996.558727
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-09-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Predictive control Manipulator dynamics Force control Open loop systems Control systems Aerodynamics Actuators Dispersion Predictive models Aerospace engineering
Content Type	Text
Resource Type	Article

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