Nonlinear modeling and control of flexible-link manipulators subjected to parametric excitation View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2010-12

AUTHORS

Ayman A. El-Badawy, Mohamed W. Mehrez, Amir R. Ali

ABSTRACT

This paper presents nonlinear dynamic modeling and control of flexible-link manipulators subjected to parametric excitation. The equations of motion are obtained using the Lagrangian-assumed modes method. Singular perturbation methodology is developed for the nonlinear time varying equations of motion to obtain a reduced-order set of equations. Control strategies, computed torque control and a composite control, based on the singular perturbation formulation developed, are utilized to reduce mechanical vibrations of the flexible-link and enable better tip positioning. Under the composite control technique, the effect of the value of perturbation parameter on the control signal is investigated. Numerical simulations supported by real-time experiments show that the singular-perturbation control methodology developed for the nonlinear time-varying system offers better system response over the computed torque control as the manipulator is commanded to follow a certain trajectory. More... »

PAGES

769-779

Journal

TITLE

Nonlinear Dynamics

ISSUE

4

VOLUME

62

Author Affiliations

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s11071-010-9761-z

DOI

http://dx.doi.org/10.1007/s11071-010-9761-z

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1001912625


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