Design of a Flexible Manipulator controller Based on Input-output Linearization

摘要：

Basing on input-output linearization strategy,a model of the flexible manipulator can be decomposed into an input-output subsystem and a zero-dynamics subsystem A fuzzy control is used to input-output subsystem.By analyzing the relationship between the eigenvalues of the zero-dynamics subsystem and the designed parameters in the output of the redefined system,the designed parameters are determined, and guarantee the zero-dynamics to be asymptotically stable at equilibrium point,thus guarantee the whole flexible manipulator system to be asymptotically stable.

关键词： Flexible manipulator Input-output linearization Fuzzy control

作者: Ying Sun Runzhi Wu Fangxiao Cheng Lan Yu

作者单位: Department of Electric and Electronic Engineering Changchun University of Technology Changchun, Jili Department of Energy and Power Changchun Institute of Technology Changchun, Jilin Province, China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）