The problem of controlling a one-link flexible arm is considered. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An integral manifold approach is proposed leading to the derivation of a reduced-order system which incorporates the effects of the flexibility distributed along the structure. An approximate technique is presented which allows the synthesis of a feedback linearizing control.
AN INTEGRAL MANIFOLD APPROACH TO CONTROL OF A ONE LINK FLEXIBLE ARM / Siciliano, Bruno; W. J., Book; G., De Maria. - STAMPA. - (1986), pp. 1131-1134. (Intervento presentato al convegno IEEE Conference on Decision and Control tenutosi a Athens, Greece nel 1986) [10.1109/CDC.1986.267558].
AN INTEGRAL MANIFOLD APPROACH TO CONTROL OF A ONE LINK FLEXIBLE ARM
SICILIANO, BRUNO;
1986
Abstract
The problem of controlling a one-link flexible arm is considered. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An integral manifold approach is proposed leading to the derivation of a reduced-order system which incorporates the effects of the flexibility distributed along the structure. An approximate technique is presented which allows the synthesis of a feedback linearizing control.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
