Application of Cyclic Control to a Two-link Flexible Arm

A servosystem recently proposed in the literature is applied to the nonlinear control of a two link flexible arm. This control algorithm allows the execution of cycles defined by points to be attained at given time instants. Differently from repetitive control and learning control, where exact traje...

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Bibliographic Details
Published in:Automatica (Oxford) 1998-08, Vol.34 (8), p.1025-1029
Main Authors: Lucibello, Pasquale, Panzieri, Stefano
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Cyclic control
Exact sciences and technology
flexible arms
learning systems
nonlinear control
Robotics
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Summary:A servosystem recently proposed in the literature is applied to the nonlinear control of a two link flexible arm. This control algorithm allows the execution of cycles defined by points to be attained at given time instants. Differently from repetitive control and learning control, where exact trajectory tracking is considered, the control problem herein formulated cares only for points. The control scheme developed is finite dimensional and does not need system re-initialization at each trial, since the new trial starts from the point reached at the end of the previous one. Experimental results show that the proposed algorithm allows a good control of the flexible arm considered.
ISSN:0005-1098
1873-2836
DOI:10.1016/S0005-1098(98)00046-6