scholarly journals End-point control of a flexible-link manipulator using H/sub ∞/ nonlinear control via a state-dependent Riccati equation

2003 ◽  
Author(s):  
A. Shawky ◽  
A. Ordys ◽  
M.J. Grimble
Keyword(s):  
Nonlinear Control ◽  
Riccati Equation ◽  
Flexible Link ◽  
End Point ◽  
State Dependent ◽  
Point Control

scholarly journals Flexible Link End-Point Control Based on Exact Dynamic Inversion: Experimental Results

2001 ◽  
Author(s):  
Aurelio Piazzi ◽  
Antonio Visioli
Keyword(s):  
Open Loop ◽  
Experimental Results ◽  
Flexible Link ◽  
End Point ◽  
Point Motion ◽  
Inversion Procedure ◽  
System Inversion ◽  
Point Control ◽  
Tip Position ◽  
Point To Point

Abstract In this paper we present a new method for the point-to-point motion control of the end-point of a single flexible link manipulator. The technique is based on an exact system inversion procedure, that allows to define a suitable motion law for the hub in order to reduce the residual vibration at the end of the tip motion. Thus, the end-point control is actually performed in open-loop, therefore avoiding the use of a sensor to measure the actual tip position. Experimental results demonstrate the effectiveness of the approach and that the overall control system is inherently robust to modelling errors.

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