Frequency-shaped explicit output feedback force control for flexible link manipulators

Joseph Borowiec, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

An optimal explicit force control scheme for flexible link manipulators is considered in this article. The control output is composed of a feedforward and a feedback term. The feedforward torque component compensates the underlying rigid arm dynamics along the desired trajectory. The feedback component regulates perturbations to the linearized rigid body output error dynamics. The minimization of a linear quadratic frequency-shaped cost functional yields the feedback controller gains. The frequency shaping dependence is included to eliminate undesirable effects associated with control and observation spillover. Sufficient conditions for spatial tracking bounds and temporal gain switching bounds for the linearized error dynamics are provided. The proposed control scheme is applied in simulation studies on a two link rigid-flexible manipulator.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
Pages4106-4111
Number of pages6
StatePublished - Dec 1 1996
EventProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4) - Kobe, Jpn
Duration: Dec 11 1996Dec 13 1996

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume4
ISSN (Print)0191-2216

Other

OtherProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4)
CityKobe, Jpn
Period12/11/9612/13/96

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Borowiec, J., & Tzes, A. (1996). Frequency-shaped explicit output feedback force control for flexible link manipulators. In Anon (Ed.), Proceedings of the IEEE Conference on Decision and Control (pp. 4106-4111). (Proceedings of the IEEE Conference on Decision and Control; Vol. 4).