Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/61973
Title: Controller design for a single-link flexible smart materials robot with experimental tests
Authors: Ge, S.S. 
Lee, T.H. 
Gong, J.Q.
Xu, J.X. 
Issue Date: 1998
Source: Ge, S.S.,Lee, T.H.,Gong, J.Q.,Xu, J.X. (1998). Controller design for a single-link flexible smart materials robot with experimental tests. Proceedings of the IEEE Conference on Decision and Control 1 : 421-426. ScholarBank@NUS Repository.
Abstract: In this paper, controller design is investigated for a single-link flexible smart materials robot, which combines both the advantages of flexible robots and piezoelectric materials. To avoid the drawbacks resulting from model uncertainties and/or model truncations, model-free controllers (both decentralized and centralized) are proposed for tip regulation and residual vibration suppression. In contrast to traditional model-based methods, the controllers presented here are derived from the basic energy-work relationship and are independent of the system dynamics.
Source Title: Proceedings of the IEEE Conference on Decision and Control
URI: http://scholarbank.nus.edu.sg/handle/10635/61973
ISSN: 01912216
Appears in Collections:Staff Publications

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