Joint tracking controller for multi-link flexible robot using disturbance observer and parameter adaptation scheme
SCIE
SCOPUS
- Title
- Joint tracking controller for multi-link flexible robot using disturbance observer and parameter adaptation scheme
- Authors
- Cheong, J; Youm, Y; Chung, WK
- Date Issued
- 2002-08
- Publisher
- JOHN WILEY & SONS INC
- Abstract
- An improved composite controller of singular perturbation approach is designed for controlling a multi-link flexible robot with uncertainties. We adopt the standard form of a singular perturbation approach for modeling. To reduce the coupling effect from flexibility, the bandwidth of a slow subsystem is modulated by considering the fundamental frequency. The disturbance observer provides a means for defining the bandwidth of a slow subsystem as well as compensating disturbances. At the same time, uncertainties in the fast subsystem are updated to enhance the capability for vibration suppression in conjunction with PID (Proportional-integrative derivative) modal feedback. We draw conditions for Lyapunov stability of the modal feedback and adaptive scheme. A numerical simulation will support the validity of our research results. (C) 2002 Wiley Periodicals, Inc.
- Keywords
- INTEGRAL MANIFOLD APPROACH; FEEDBACK-CONTROL; MANIPULATORS
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/18995
- DOI
- 10.0002/ROB.10049
- ISSN
- 0741-2223
- Article Type
- Article
- Citation
- JOURNAL OF ROBOTIC SYSTEMS, vol. 19, no. 8, page. 401 - 417, 2002-08
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