Model-based and adaptive composite control of smart materials robots

Abstract

In this paper, model-based and adaptive composite controllers are presented for smart materials robots using Singular Perturbation techniques by modeling the flexible modes and their derivatives as the fast variables and link variables as slow variables. In the model-based controller design, the well-established control strategies for rigid-body robots can be used to control the slow dynamics. For the fast subsystem, both hub actuation and distributed vibration damping control are applied through joint torque control and smart material voltage control respectively. In the adaptive composite controller design, adaptive technique is applied to control the slow dynamics with uncertain parameters. The smart materials bonded along the links are used to active suppress the residue vibration. Simulation results are provided to show that both proposed approaches can control the system successfully and effectively.