Please use this identifier to cite or link to this item:
DC FieldValue
dc.titleA robust distributed controller of a single-link SCARA/Cartesian smart materials robot
dc.contributor.authorGe, S.S.
dc.contributor.authorLee, T.H.
dc.contributor.authorGong, J.Q.
dc.identifier.citationGe, S.S.,Lee, T.H.,Gong, J.Q. (1999). A robust distributed controller of a single-link SCARA/Cartesian smart materials robot. Mechatronics 9 (1) : 65-93. ScholarBank@NUS Repository.
dc.description.abstractIn this paper, dynamic modelling and controller design are presented for a SCARA/Cartesian smart materials robot, a flexible SCARA/Cartesian robot bonded with piezoelectric actuators and sensors for better control performance. Conventionally, controller design is usually carried out for a truncated model of partial differential equations (PDEs). In this paper, a novel distributed controller is developed directly based on PDEs, which can guarantee the globally exponential stability of the closed-loop system. Taking into account of bounded disturbances, a robust distributed controller is further developed and stability proof is also given. Different from the conventional approach, truncation is introduced at the stage of the controller implementation. Stability proofs show that the proposed controller can also stabilize the finite dimensional model with arbitrary number of flexible modes. Both simulation and experiment results verify that the robust controller can achieve good performance in the suppression of residual vibrations under the environment of disturbances. © 1998 Elsevier Science Ltd. All rights reserved.
dc.subjectDynamic modelling
dc.subjectFlexible SCARA/Cartesian robot
dc.subjectRobust distributed controller
dc.subjectSmart material
dc.contributor.departmentELECTRICAL ENGINEERING
Appears in Collections:Staff Publications

Show simple item record
Files in This Item:
There are no files associated with this item.

Page view(s)

checked on Sep 24, 2021

Google ScholarTM


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.