Tracking and Vibration Control of Flexible Robots Using Shape Memory Alloys

This paper considers the tracking control problem for flexible robots with active vibration suppression by shape memory alloys (SMAs). With a singular perturbation technique, the flexible modes and joint angles are modeled as fast and slow variables, respectively. The fast subsystem comprising the n...

Full description

Saved in:
Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2006-12, Vol.11 (6), p.690-698
Main Authors: Ge, S.S., Tee, K.P., Vahhi, I.E., Tay, F.E.H.
Format: Article
Language:English
Subjects:
Actuators
Asymptotic properties
Backstepping
flexible link
Linear feedback control systems
Mathematical models
Nonlinear control systems
Perturbation methods
Robot control
Robots
Robust control
Shape memory alloys
shape memory alloys (SMAs)
Singular perturbation
Torque control
Tracking
Vibration
Vibration control
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper considers the tracking control problem for flexible robots with active vibration suppression by shape memory alloys (SMAs). With a singular perturbation technique, the flexible modes and joint angles are modeled as fast and slow variables, respectively. The fast subsystem comprising the nonlinear SMA dynamics is obtained in a strict feedback form feasible for the backstepping design. The SMA actuators are configured in redundant pairs for an active suppression of vibrations. For the slow subsystem, asymptotically stable tracking is ensured, while for the fast subsystem, uniform exponential stability is guaranteed. By invoking Tikhonov's theorem, it is shown that the error arising from the nonideal time-scale separation in the singular perturbation model is small. Simulation demonstrates the effectiveness of the proposed control
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2006.886242