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A model of a flexible manipulator is developed with considering the geometrical nonlinearity and the effect of gravity. The model can be divided into a flexible dynamic subsystem and a rigid dynamic subsystem, and a decomposed dynamic control (DDC) including flexible dynamic control and rigid dynamic control is proposed for a controller design of the flexible manipulator. The flexible dynamic control...
In this paper, an adaptive fuzzy sliding mode controller (AFSMC) is presented for the tracking control of work platform of folding-boom aerial platform vehicle. Chattering caused by the high speed switching control in sliding mode controller may degenerate the system performance and result in unpredictable instabilities. The proposed AFSMC could eliminate the chattering by substituting the discontinuous...
This paper is concerned with sliding mode control of offshore steel jacket platforms subject to nonlinear wave-induced forces. Two sliding mode control schemes are proposed to reduce the oscillation amplitudes of the platforms. One scheme is that a conventional sliding mode controller (SMC) is designed, under the SMC the oscillation amplitudes of the platform are effectively reduced; however, a very...
Intelligent control of space manipulator with flexible-link and flexible-joint is discussed based on the singular perturbation method. Owing to the combined effects of the link and joint flexibilities, the dynamic model of this kind of manipulator becomes more complex and leads to a series of unsolved control system. To simplify the design of the control system, singular perturbation method is used...
The distributed parameter dynamic model for two manipulators handling a flexible payload is proposed by Hamilton's principle. A composite controller is designed based on singular perturbation model with external disturbances and parameters uncertainties, where an adaptive fuzzy sliding mode controller is presented for the slow lumped subsystem. The control algorithm can realize desired position control...
Double-layer vibration isolation device can significantly reduce the vibration of machinery and equipment delivered to the base or the environment. However, the passive approach is difficult to isolate the low-frequency vibration effectively. Active vibration isolation technology can set the control law according to the adjustment of dynamic characteristics parameters of the system, realize isolation...
In this study, based on differential geometry input-output linearization method, a new robust control approach using global terminal sliding mode (GTSM) was developed for trajectory tracking and vibraton suppression of two-link flexible space manipulator, and the nonminimum phase control problem was solved. Firstly, the system outputs including joint angle and flexible-link vibration were redefined...
In this paper, two nonlinear controllers for a single flexible link manipulator are presented. These controllers are derived using sliding mode technique. The first controller presented in this paper is a generalization of the computed torque which is used in conventional rigid robot control. In this method, we have assumed that the model parameters of the planar single flexible manipulator are perfectly...
Manipulating flexible payloads are being extensively studied because of the potential applications. So far, the modeling method isn't perfect and there are few studies about the trajectory tracking of them. In this paper the modeling and trajectory tracking of manipulating flexible payloads by robot manipulators are studied. The finite element method (FEM) is used to approximate the vibration of flexible...
Modeling inaccuracies can have adverse affects on a control system of a system, especially when there are significant flexible dynamics. Sliding mode control can provide good trajectory tracking of such systems, even in the presence of disturbances. Command generation has proven beneficial for eliminating residual vibration from motion induced dynamics. In an attempt to utilize the best aspects of...
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