This paper presents a development of hybrid control strategies for a single-link flexible manipulator. The control system consists of two actuators; a DC servo motor at the joint and a distributed piezoelectric film actuator bonded to the surfaces of the flexible link. Equations of motion considering two control inputs were developed using the generalized Hamilton’s principle. A feedback control law has been developed based on Lyapunov’s direct method and global stability of closed-loop system is guaranteed. A loop-closure technique was introduced to simplify the design procedure for choosing the feedback gains. Simulation and the experimental results were found to be in good agreement and performance improvement obtained using the hybrid control strategy has been demonstrated.
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e-mail: gumin@mech.uq.edu.au
e-mail: sam@mech.uq.edu.au
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September 1999
Technical Papers
Combined Discrete-Distributed Control of a Single-Link Flexible Manipulator Using a Lyapunov Approach
Min Gu,
Min Gu
Department of Mechanical Engineering, University of Queensland, Brisbane, Qld 4072, Australia
e-mail: gumin@mech.uq.edu.au
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Samuel F. Asokanthan
Samuel F. Asokanthan
Department of Mechanical Engineering, University of Queensland, Brisbane, Qld 4072, Australia
e-mail: sam@mech.uq.edu.au
Search for other works by this author on:
Min Gu
Department of Mechanical Engineering, University of Queensland, Brisbane, Qld 4072, Australia
e-mail: gumin@mech.uq.edu.au
Samuel F. Asokanthan
Department of Mechanical Engineering, University of Queensland, Brisbane, Qld 4072, Australia
e-mail: sam@mech.uq.edu.au
J. Dyn. Sys., Meas., Control. Sep 1999, 121(3): 448-456 (9 pages)
Published Online: September 1, 1999
Article history
Received:
September 29, 1997
Online:
December 3, 2007
Citation
Gu, M., and Asokanthan, S. F. (September 1, 1999). "Combined Discrete-Distributed Control of a Single-Link Flexible Manipulator Using a Lyapunov Approach." ASME. J. Dyn. Sys., Meas., Control. September 1999; 121(3): 448–456. https://doi.org/10.1115/1.2802495
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