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A fast stable control strategy based on system energy for a planar single-link flexible manipulator

A fast stable control strategy based on system energy for a planar single-link flexible manipulator This paper presents a stable control strategy based on system energy for a Planar Single-Link Flexible Manipulator (PSLFM) to quickly realize its control objective, which is to move the flexible link to the target angle and to suppress the vibration of the flexible link. The PSLFM is a highly nonlinear and strongly coupled system, and it is also an underactuated system. In this paper, the PSLFM is assumed to be an Euler–Bernoulli beam, and its dynamic model is built by using the assumed mode method. According to the energy of the system and the control objective of the PSLFM, a Lyapunov function is constructed. Based on this function, a controller is designed to realize the control objective of the system. Meantime, an online optimization method based on Fuzzy-Genetic Algorithm (FGA) is presented to improve the performance of the system by optimizing the design parameter of the controller in every sampling period. The simulation results demonstrate the effectiveness of this fast stable control strategy. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Nonlinear Dynamics Springer Journals

A fast stable control strategy based on system energy for a planar single-link flexible manipulator

Nonlinear Dynamics , Volume 94 (1) – Jun 2, 2018

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References (23)

Publisher
Springer Journals
Copyright
Copyright © 2018 by Springer Science+Business Media B.V., part of Springer Nature
Subject
Engineering; Vibration, Dynamical Systems, Control; Classical Mechanics; Mechanical Engineering; Automotive Engineering
ISSN
0924-090X
eISSN
1573-269X
DOI
10.1007/s11071-018-4380-1
Publisher site
See Article on Publisher Site

Abstract

This paper presents a stable control strategy based on system energy for a Planar Single-Link Flexible Manipulator (PSLFM) to quickly realize its control objective, which is to move the flexible link to the target angle and to suppress the vibration of the flexible link. The PSLFM is a highly nonlinear and strongly coupled system, and it is also an underactuated system. In this paper, the PSLFM is assumed to be an Euler–Bernoulli beam, and its dynamic model is built by using the assumed mode method. According to the energy of the system and the control objective of the PSLFM, a Lyapunov function is constructed. Based on this function, a controller is designed to realize the control objective of the system. Meantime, an online optimization method based on Fuzzy-Genetic Algorithm (FGA) is presented to improve the performance of the system by optimizing the design parameter of the controller in every sampling period. The simulation results demonstrate the effectiveness of this fast stable control strategy.

Journal

Nonlinear DynamicsSpringer Journals

Published: Jun 2, 2018

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