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- W2188704292 abstract "In thispaper, active control ofspacemanipulator withflexible-link andflexible-joint wasinvestigated basedonthe singular perturbation method. Owingtothecombined effects of thelinkandjoint flexibilities, thedynamics modelofthis typeof manipulator becamemorecomplex andledtoaseries ofunsolved control system. Tosimplify thedesign ofcontrol system, singular perturbation methodwasexploited toobtain thetwo-time-scale simpler subsystem andcomposite control methods weredesigned torealize precise trajectory tracking andvibration suppression simultaneously ofone-link andone-joint flexible manipulator withpayload. Intheslowsubsystem, a fuzzysliding-mode controller wasdesigned todecrease theinfluences ofexternal disturbance andparameters uncertainties, thesystemstability andasymptotic trajectory tracking performance wereguaranteed byLyapunov function; whilealinear-quadratic controller was designed tosuppress thevibration inthefastsubsystem. The performances ofproposed controller weredemonstrated bythe simulation results." @default.
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- W2188704292 date "2008-01-01" @default.
- W2188704292 modified "2023-09-27" @default.
- W2188704292 title "Active Control ofSpace Flexible-Joint/F lexible-Link Manipulator" @default.
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