Nonlinear modeling and control of flexible-link manipulators subjected to parametric excitation

Author: El-Badawy Ayman   Mehrez Mohamed   Ali Amir  

Publisher: Springer Publishing Company

ISSN: 0924-090X

Source: Nonlinear Dynamics, Vol.62, Iss.4, 2010-12, pp. : 769-779

Disclaimer: Any content in publications that violate the sovereignty, the constitution or regulations of the PRC is not accepted or approved by CNPIEC.

Previous Menu Next

Abstract

This paper presents nonlinear dynamic modeling and control of flexible-link manipulators subjected to parametric excitation. The equations of motion are obtained using the Lagrangian-assumed modes method. Singular perturbation methodology is developed for the nonlinear time varying equations of motion to obtain a reduced-order set of equations. Control strategies, computed torque control and a composite control, based on the singular perturbation formulation developed, are utilized to reduce mechanical vibrations of the flexible-link and enable better tip positioning. Under the composite control technique, the effect of the value of perturbation parameter on the control signal is investigated. Numerical simulations supported by real-time experiments show that the singular-perturbation control methodology developed for the nonlinear time-varying system offers better system response over the computed torque control as the manipulator is commanded to follow a certain trajectory.