Vibration control of flexible robotic arms using robust model matching control

Jianming Lu, Muhammad Shafiq, Takashi Yahagi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

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 languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherIEEE
Pages663-668
Number of pages6
Volume2
Publication statusPublished - 1996
EventProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn
Duration: Mar 18 1996Mar 21 1996

Other

OtherProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2)
CityTsu, Jpn
Period3/18/963/21/96

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Lu, J., Shafiq, M., & Yahagi, T. (1996). Vibration control of flexible robotic arms using robust model matching control. In International Workshop on Advanced Motion Control, AMC (Vol. 2, pp. 663-668). IEEE.