TY - GEN
T1 - Nonlinear control of two-link flexible arm with adaptive internal model
AU - Dog̃an, Mustafa
AU - Istefanopulos, Yorgo
AU - Diktas, E. Deniz
PY - 2004
Y1 - 2004
N2 - Developing Nonlinear adaptive and robust controller for two-link flexible robot arm is the main objective of this research. The dynamic state feedback controller is used to achieve robust regulation of the rigid modes as well as suppression of elastic vibrations. Modelling of highly nonlinear multi-link flexible arms is subject to uncertainties such that imperfect modelling, backlash, payload changes and external disturbances. Therefore, adaptive control of multi-link flexible arms is a challenging problem. In this paper, the internal model approach is adaptively tuned up for unknown disturbances, parallel with the robust stabilizer.
AB - Developing Nonlinear adaptive and robust controller for two-link flexible robot arm is the main objective of this research. The dynamic state feedback controller is used to achieve robust regulation of the rigid modes as well as suppression of elastic vibrations. Modelling of highly nonlinear multi-link flexible arms is subject to uncertainties such that imperfect modelling, backlash, payload changes and external disturbances. Therefore, adaptive control of multi-link flexible arms is a challenging problem. In this paper, the internal model approach is adaptively tuned up for unknown disturbances, parallel with the robust stabilizer.
UR - http://www.scopus.com/inward/record.url?scp=13944271764&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:13944271764
SN - 0780385993
T3 - Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
SP - 292
EP - 298
BT - Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
T2 - Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
Y2 - 3 June 2004 through 5 June 2004
ER -