A Learning Variable Structure Controller of a Flexible One-Link Manipulator

[+] Author and Article Information
Wen-Jun Cao

Data Storage Institute, National University of Singapore, DSI Building, 5 Engineering Drive 1, Singapore 117608   e-mail: wjcao@dsi.nus.edu.sg.

Jian-Xin Xu

Electrical Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260   e-mail: elexujx@nus.edu.sg

J. Dyn. Sys., Meas., Control 122(4), 624-631 (Feb 04, 2000) (8 pages) doi:10.1115/1.1318943 History: Received February 04, 2000
Copyright © 2000 by ASME
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Grahic Jump Location
A one-link flexible robotic manipulator
Grahic Jump Location
Variation of γ with respect to mt∊[0, 0.2]Kg
Grahic Jump Location
Variations of eigenvalues of Acl with respect to mt∊[0, 0.2]Kg, solid line - Eigenvalue 1, dotted line - Eigenvalue 2, dashed line - Eigenvalue 3, dash dot line - Eigenvalue 4
Grahic Jump Location
Tip trajectory using the proposed method during the first iteration (dashed line) and the second iteration (solid line), mt=0.1Kg with d(t)
Grahic Jump Location
Control torque u2 using proposed method during the second iteration, mt=0.1Kg with d(t)
Grahic Jump Location
Tip trajectory using proposed method during the second iteration by time-domain learning (dashed line) and frequency-domain learning (solid line), measurement noise is added into the first iteration, mt=0.2Kg with d(t)
Grahic Jump Location
Tip trajectory using proposed method during the first iteration (dashed line) and the second iteration (solid line), mt=0.2Kg with d(t)



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