A Robust Nonlinear Observation Strategy for the Control of Flexible Manipulators

摘要：

Flexibility is often an unavoidable consequence of the desire for high speed and performance manipulators. This paper proposes a method that improves the performance of flexible manipulators through the employment of robust state estimation techniques. These techniques are based on discrete time Kalman filtering and sliding mode principles. A simple model for a single degree of freedom flexible manipulator is derived and a control scheme is chosen and implemented. The latter includes a robust non-linear estimator. Simulation and preliminary experimental results are presented that demonstrate the validity of the proposed control scheme.

作者: Brian K. Post Wayne J. Book

作者单位: Woodruff School of Mechanical Engineering,Georgia Institute of Technology

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2166-2171

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）