NDLI: Intelligent control of flexible-joint manipulator based on singular perturbation

Content Provider	IEEE Xplore Digital Library
Author	Shao Zhiyu Zhang Xiaodong
Copyright Year	2010
Description	Author affiliation: China Academy of Space Technology, Beijing, China (Zhang Xiaodong) \|\| State Key Laboratory of Explosion Science and Technology, Beijing Institute of Technology, China (Shao Zhiyu)
Abstract	Intelligent control of space manipulator with flexible-link and flexible-joint is discussed based on the singular perturbation method. Owing to the combined effects of the link and joint flexibilities, the dynamic model of this kind of manipulator becomes more complex and leads to a series of unsolved control system. To simplify the design of the control system, singular perturbation method is used to obtain the two-time-scale simpler subsystem and a composite control method is designed to realize precise trajectory tracking and vibration suppression simultaneously for flexible-link/flexible-joint manipulator with payload. In the slow subsystem, a sliding-mode controller with RBFN is designed to decrease the influences of external disturbance and parameters uncertainties, in which the system stability and asymptotic trajectory tracking performance are guaranteed by Lyapunov function, while in the fast subsystem a linear-quadratic controller is designed to suppress the vibration. The performances of the discussed controller are illustrated by the simulation and experimental results.
Starting Page	243
Ending Page	248
File Size	861548
Page Count	6
File Format	PDF
ISBN	9781424483754
e-ISBN	9781424483761
e-ISBN	9781424483747
DOI	10.1109/ICAL.2010.5585287
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-16
Publisher Place	Hong Kong
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vibrations Uncertainty Singular perturbation Flexible-joint/Flexible link Space Flexible Manipulator Trajectory Mathematical model Joints Sliding-mode control RBFN Manipulator dynamics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Adaptive Sliding Mode Control for Hydraulic Flexible Manipulator Based on Two-Parameter Singular Perturbation Method

Active Control of Space Flexible-Joint/Flexible-Link Manipulator

Composite control of flexible link flexible joint manipulator

Sliding mode control using switching gain for a vehicle flexible manipulator

Distributed parameter model and cooperative control of manipulators handling a flexible payload

Adaptive RISE control of a multi-link flexible manipulator based on integral manifold approach

Adaptive sliding mode control with filtered signals of two manipulators handling a flexible payload

Control and joint inertia analysis of flexible manipulator based on singular perturbation theory

Trajectory tracking control based on global fast terminal sliding mode for 2-DOF manipulator

Intelligent control of flexible-joint manipulator based on singular perturbation

Similar Documents

Adaptive Sliding Mode Control for Hydraulic Flexible Manipulator Based on Two-Parameter Singular Perturbation Method

Active Control of Space Flexible-Joint/Flexible-Link Manipulator

Composite control of flexible link flexible joint manipulator

Sliding mode control using switching gain for a vehicle flexible manipulator

Distributed parameter model and cooperative control of manipulators handling a flexible payload

Adaptive RISE control of a multi-link flexible manipulator based on integral manifold approach

Adaptive sliding mode control with filtered signals of two manipulators handling a flexible payload

Control and joint inertia analysis of flexible manipulator based on singular perturbation theory

Trajectory tracking control based on global fast terminal sliding mode for 2-DOF manipulator

Intelligent control of flexible-joint manipulator based on singular perturbation