Nonlinear control of two-link flexible arm with adaptive internal model

Mustafa Dog̃an, Yorgo Istefanopulos, E. Deniz Diktas

Araştırma sonucu: ???type-name???Konferans katkısıbilirkişi

9 Atıf (Scopus)

Özet

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.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığıProceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
Sayfalar292-298
Sayfa sayısı7
Yayın durumuYayınlandı - 2004
Harici olarak yayınlandıEvet
EtkinlikProceedings of the IEEE International Conference on Mechatronics 2004, ICM'04 - Istanbul, Turkey
Süre: 3 Haz 20045 Haz 2004

Yayın serisi

AdıProceedings of the IEEE International Conference on Mechatronics 2004, ICM'04

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???event.eventtypes.event.conference???Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
Ülke/BölgeTurkey
ŞehirIstanbul
Periyot3/06/045/06/04

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