Please use this identifier to cite or link to this item:
|Title:||Improving regulation of a single-link flexible manipulator with strain feedback|
|Authors:||Ge, S.S. |
Nonlinear strain feedback
|Source:||Ge, S.S., Lee, T.H., Zhu, G. (1998). Improving regulation of a single-link flexible manipulator with strain feedback. IEEE Transactions on Robotics and Automation 14 (1) : 179-185. ScholarBank@NUS Repository. https://doi.org/10.1109/70.660869|
|Abstract:||This paper considers improving the tip regulation performance of a joint-PD controlled single-link flexible manipulator by introducing nonlinear strain feedback. The controller is developed by applying Lyapunov's direct method. The stability of the closed-loop system is theoretically proven based on the partial differential equations (PDE's) which govern the motion of the flexible robot, instead of using the traditional truncated models. The controller is very simple in its form, and only the measurements of joint angle, joint velocity, and strain of the bending beam are needed for implementation. The controller is very robust as well because it is independent of system parameters.|
|Source Title:||IEEE Transactions on Robotics and Automation|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Feb 21, 2018
WEB OF SCIENCETM
checked on Jan 16, 2018
checked on Feb 18, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.