Hossein Bolandi and Seyed M. Esmaeilzadeh
Flexible manipulator, nonlinear control, adaptive control, extended Hamilton’s-assumed mode method
In this paper, for exact tip trajectory tracking control of a flexible robot arm, a new approach is developed based on tip position and strain gauge measurements through nonlinear control design. Based on this approach, the drawbacks of existing methods inclusive of noncasual and approximate torque of inverse dynamic, undesirable performance of output redefinition and approximate tracking with steady state error of singular perturbation are removed. To cope with practical implementation requirements as structural uncertainty and especially tip mass changes, an adaptive version of proposed nonlinear controller is developed. Simulation results show the effectiveness of proposed method to provide exact tracking capability and good tracking performance with zero steady state error.
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