Abstract
We present a new method for the vibration control of flexible robotic arms using robust model matching control strategy. To reduce the order of the compensator the rigid-body mode and the first flexible mode are considered as nominal model. The other flexible modes are considered as unmodeled dynamics. The method is suitable to robustly control the nominal model in the presence of unmodeled flexible dynamics and achieve the desired model matching simultaneously. Moreover, the sufficient condition for stabilizing the nominal model in the presence the unmodeled flexible dynamics is derived. Finally, computer simulation results are presented to demonstrate the effectiveness of the proposed method.
| Original language | English |
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| Pages | 663-668 |
| Number of pages | 6 |
| Publication status | Published - 1996 |
| Externally published | Yes |
| Event | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn Duration: Mar 18 1996 → Mar 21 1996 |
Other
| Other | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) |
|---|---|
| City | Tsu, Jpn |
| Period | 3/18/96 → 3/21/96 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering