Adaptive nonlinear control and input preshaping for flexible-link manipulators - Control/Robotics Research Laboratory (CRRL)

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Adaptive input precompensators in conjunction with nonlinear controllers for flexible-link manipulators are considered in this paper. The objective is to adaptively tune the parameters of the input preshaping scheme and the rigid-body based nonlinear inner-loop controller so that a vibration free output is achieved for payload variations and parameter uncertainties. Estimation of the vibrational modes and payload is done using the Empirical Transfer Function Estimate (ETFE) system identification algorithm. Experimental results on a two-link flexible manipulator with adaptive nonlinear control and preshaping are provided to show the effectiveness of the advocated controllers.

Original languageEnglish (US)
Title of host publicationAmerican Control Conference
PublisherPubl by IEEE
Pages2705-2709
Number of pages5
ISBN (Print)0780308611
StatePublished - 1993
EventProceedings of the 1993 American Control Conference - San Francisco, CA, USA
Duration: Jun 2 1993Jun 4 1993

Other

OtherProceedings of the 1993 American Control Conference
CitySan Francisco, CA, USA
Period6/2/936/4/93

Fingerprint

Research laboratories
Manipulators
Robotics
Controllers
Flexible manipulators
Transfer functions
Identification (control systems)

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Adaptive nonlinear control and input preshaping for flexible-link manipulators - Control/Robotics Research Laboratory (CRRL). / Khorrami, Farshad; Jain, Sandeep; Tzes, Antonios.

American Control Conference. Publ by IEEE, 1993. p. 2705-2709.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Khorrami, F, Jain, S & Tzes, A 1993, Adaptive nonlinear control and input preshaping for flexible-link manipulators - Control/Robotics Research Laboratory (CRRL). in American Control Conference. Publ by IEEE, pp. 2705-2709, Proceedings of the 1993 American Control Conference, San Francisco, CA, USA, 6/2/93.
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