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|Title:||Controller design for a single-link flexible smart materials robot with experimental tests|
|Authors:||Ge, S.S. |
|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|
|Appears in Collections:||Staff Publications|
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