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A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators


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The control of lightweight flexible manipulators moving along predefined pathsis the focus of this work. The flexible manipulator dynamics is derived on thebasis of a Lagrangian-assumed modes method. The full order flexible dynamicsystem does not allow the determination of a tracking control as for rigidmanipulators, since there are not as many control inputs as output variables.This drawback is overcome by accomplishing a model order reduction, based on a singular perturbation strategy, where the perturbation parameter can beidentified as the ratio of speeds of the slow versus the fast dynamics.A composite control is adopted. First a slow control is designed with thepurpose to track the trajectory in the joint space as accurately as possible.A quasi steady-state trajectory is then determined for the fast variables, anda fast control is in charge of stabilizing them along that trajectory.The one link flexible arm prototype in the Flexible Automation Laboratoryat Georgia Tech is chosen for developing a case study. Extensive simulationresults are illustrated.



Intelligent Machine Dynamics Laboratory - Intelligent Machine Dynamics Laboratory Publications -



Autor: Siciliano, Bruno - Book, Wayne John - -

Fuente: https://smartech.gatech.edu/



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