NDLI: Hybrid Control Strategy for Flexible Manipulators

Content Provider	IEEE Xplore Digital Library
Author	Maouche, A.R. Attari, M.
Copyright Year	2007
Description	Author affiliation: Houari Boumedien Univ., Algiers (Maouche, A.R.; Attari, M.)
Abstract	The motion control of a planar manipulator with two flexible arms is studied. Dynamics are developed in Lagrange's formulation. A novel control system structure is proposed to control the joint position and velocity as well as deflection of the tip for each arm. First, nonlinear control law based on the equations of motion of the robot is presented and stability analysis is studied. Then, an adaptive neural controller is implemented to compensate structured and unstructured uncertainties. Efficiency of the new controller obtained by combining the two control laws is tested facing an important variation of the dynamic parameters of the flexible manipulator and compared to the nonlinear control taken solely. Simulation results show the effectiveness of the control strategy proposed.
Starting Page	50
Ending Page	55
File Size	457009
Page Count	6
File Format	PDF
ISBN	9781424407545
DOI	10.1109/ISIE.2007.4374571
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-04
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Motion control Velocity control Control systems Arm Nonlinear dynamical systems Lagrangian functions Nonlinear equations Motion analysis Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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