ON THE STABILITY OF PD CONTROL FOR A 2-LINK RIGID-FLEXIBLE MANIPULATOR

Authors
YIGIT AS
Citation
As. Yigit, ON THE STABILITY OF PD CONTROL FOR A 2-LINK RIGID-FLEXIBLE MANIPULATOR, Journal of dynamic systems, measurement, and control, 116(2), 1994, pp. 208-215
Citations number
17
Categorie Soggetti
Engineering, Mechanical
Journal title
Journal of dynamic systems, measurement, and control → ACNP
ISSN journal
00220434
Volume
116
Issue
2
Year of publication
1994
Pages
208 - 215
Database
ISI
SICI code
0022-0434(1994)116:2<208:OTSOPC>2.0.ZU;2-S
Abstract
Controller design for a rigid-flexible two-link manipulator is conside red. Robustness of independent joint PD control is investigated. It ha s been shown that the stability of independent joint PD control does n ot depend explicitly on the system parameters. No discretization or li nearization of the equations of motion is required to assure the stabi lity. Simulation studies also show that independent joint PD control g ives reasonably good results for the flexible system, and is robust to parameter uncertainties.