Nonlinear Dyn (2018) 94:615–626 https://doi.org/10.1007/s11071-018-4380-1 ORIGINAL PAPER A fast stable control strategy based on system energy for a planar single-link ﬂexible manipulator Qing-Xin Meng · Xu-Zhi Lai · Ya-Wu Wang · Min Wu Received: 12 October 2017 / Accepted: 22 May 2018 / Published online: 2 June 2018 © Springer Science+Business Media B.V., part of Springer Nature 2018 Abstract This paper presents a stable control strat- 1 Introduction egy based on system energy for a Planar Single-Link Flexible Manipulator (PSLFM) to quickly realize its Manipulators are widely used instead of human beings control objective, which is to move the ﬂexible link to to work on dangerous and monotonous occasions and to the target angle and to suppress the vibration of the accomplish tasks that human beings cannot solve inde- ﬂexible link. The PSLFM is a highly nonlinear and pendently. In the early days, manipulators are designed strongly coupled system, and it is also an underactu- heavy and bulky to minimize the mechanical vibration. ated system. In this paper, the PSLFM is assumed to But in recent years, the bulky manipulators cannot meet be an Euler–Bernoulli beam, and its dynamic model is the growing demand of the high-efﬁciency and high-
Nonlinear Dynamics – Springer Journals
Published: Jun 2, 2018
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