Application of Cyclic Control to a Two-link Flexible Arm

A servosystem recently proposed in the literature is applied to the nonlinear control of a two link flexible arm. This control algorithm allows the execution of cycles defined by points to be attained at given time instants. Differently from repetitive control and learning control, where exact traje...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 34; no. 8; pp. 1025 - 1029
Main Authors Lucibello, Pasquale, Panzieri, Stefano
Format Journal Article
LanguageEnglish
Published Oxford Elsevier Ltd 01.08.1998
Elsevier
Subjects
Applied sciences
Computer science; control theory; systems
Control system synthesis
Control theory. Systems
Cyclic control
Exact sciences and technology
flexible arms
learning systems
nonlinear control
Robotics
flexible arms
nonlinear control
Cyclic control
learning systems
State feedback
Flexible structure
Control system
Non linear control
Robustness
Motion control
Servomechanism
Cyclic system
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Summary:A servosystem recently proposed in the literature is applied to the nonlinear control of a two link flexible arm. This control algorithm allows the execution of cycles defined by points to be attained at given time instants. Differently from repetitive control and learning control, where exact trajectory tracking is considered, the control problem herein formulated cares only for points. The control scheme developed is finite dimensional and does not need system re-initialization at each trial, since the new trial starts from the point reached at the end of the previous one. Experimental results show that the proposed algorithm allows a good control of the flexible arm considered.
ISSN:0005-1098
1873-2836
DOI:10.1016/S0005-1098(98)00046-6