Combined Discrete-Distributed Control of a Single-Link Flexible Manipulator Using a Lyapunov Approach

[+] Author and Article Information
Min Gu, Samuel F. Asokanthan

Department of Mechanical Engineering, University of Queensland, Brisbane, Qld 4072, Australia

J. Dyn. Sys., Meas., Control 121(3), 448-456 (Sep 01, 1999) (9 pages) doi:10.1115/1.2802495 History: Received September 29, 1997; Online December 03, 2007


This paper presents a development of hybrid control strategies for a single-link flexible manipulator. The control system consists of two actuators; a DC servo motor at the joint and a distributed piezoelectric film actuator bonded to the surfaces of the flexible link. Equations of motion considering two control inputs were developed using the generalized Hamilton’s principle. A feedback control law has been developed based on Lyapunov’s direct method and global stability of closed-loop system is guaranteed. A loop-closure technique was introduced to simplify the design procedure for choosing the feedback gains. Simulation and the experimental results were found to be in good agreement and performance improvement obtained using the hybrid control strategy has been demonstrated.

Copyright © 1999 by The American Society of Mechanical Engineers
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