Adaptive Backstepping Control of a Dual-manipulator Cooperative System Handling a Flexible Payload
Two manipulators handling a flexible payload are studied based on adaptive backstepping control theory. Considering the complexity of the dynamic model, the obtained model is divided into a slow subsystem describing the large rigid motion and a fast subsystem expressing the elastic vibration by singular perturbation theory. A cooperative controller is designed based on adaptive backstepping control. The slow subsystem can complete system trajectory tracking performance. The fast subsystem can suppress the elastic vibration of the system. Stability of the system is proved by using Lyapunov stability theory. The validity of the proposed scheme is demonstrated by simulations.
flexible payload manipulator singular perturbation adaptive backstepping control
Mulin Liu Yuanchun Li Zhiguo Tang Changqing Chen
State Key Laboratory of Automobile Dynamic Simulation, Jilin University, Changchun 130022 Department Department of Communication Engineering, Jilin University, Changchun 130022 Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 13
国际会议
长春
英文
238-241
2010-08-24（万方平台首次上网日期，不代表论文的发表时间）