A Simple Compound Control Method for Flexible-link Manipulator

Sanxiu Wang, Li Yu, Jianming Xu, Kexing Xu

Abstract


This paper presents a composite control scheme based on singular perturbation theory, which decouples the system of flexible-link manipulator into rigid motion (slow subsystem) and flexible vibration (fast subsystem) two different time scale subsystems. For the slow subsystem, a controller combined computer torque method and robust control is employed to track the desired trajectory, while, a state feedback control is used to stabilize the fast subsystem to suppress the vibration. The simulation results show that the proposed control strategy has good tracking performance and suppress the flexible-link vibration effectively.

 

DOI: http://dx.doi.org/10.11591/telkomnika.v11i11.3515


Keywords


flexible manipulator; singular perturbation; slow subsystem; fast subsystem

Full Text:

PDF

Refbacks

  • There are currently no refbacks.


Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

Indonesian Journal of Electrical Engineering and Computer Science (IJEECS)
p-ISSN: 2502-4752, e-ISSN: 2502-4760
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).

shopify stats IJEECS visitor statistics