Application of singular perturbation approach in trajectory tracking control of two-link flexible manipulator

2002 ◽  
Author(s):  
Li Xiaoguang ◽  
Liu Junyi ◽  
Lei Xia ◽  
Zhang Qiguang
Keyword(s):  
Singular Perturbation ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Flexible Manipulator ◽  
Perturbation Approach ◽  
Trajectory Tracking Control

A Robust Trajectory Tracking Control Scheme of Two-Link Flexible Manipulator

2011 ◽  
Vol 328-330 ◽  
pp. 2108-2112
Author(s):  
Jing Shuang Lu ◽  
Chun Mei Du ◽  
Rui Zhou ◽  
Na Li
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Vertical Plane ◽  
Flexible Manipulator ◽  
System Model ◽  
Error Signal ◽  
Dynamics Model ◽  
Trajectory Tracking Control ◽  
Control Scheme ◽  
Simulation Results

A simple dynamics model is established based on the two-link flexible manipulator moving within the vertical plane, and a robust simple control scheme is put forward. The advantages of this scheme are simple and good robustness. Only the error signal is needed when designing the control scheme and the acquirement of control signal does not depend on the system model. The simulation results show that this method has a good robustness and stability.

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