Control of nonminimum phase singularly perturbed systems with applications to flexible link manipulators

TitleControl of nonminimum phase singularly perturbed systems with applications to flexible link manipulators
Publication TypeJournal Article
Year of Publication1996
AuthorsZaad, K. H., and K. Khorasani
Secondary AuthorsKhalil, H., J. Chow, and P. Iannou
JournalProceedings of A Workshop on Advances inControl and ITS Applications
Volume208
Pagination234–256
ISSN0170-8643
Abstract

The problem of controlling the tip position of a flexible-link manipulator is considered. A linear mathematical model of the flexible system is expressed in a standard singularly perturbed form. The concept of the integral manifolds is utilized to design a dynamical composite control strategy to guarantee a minimum phase closed-loop system restricted to the manifold, resulting in controlling the tip position to an arbitrary degree of accuracy by just measuring the hub angle and the tip position. Numerical simulations are included to demonstrate the advantages of the proposed technique.

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