Combined discrete-distributed control of a single-link flexible manipulator using a lyapunov approach

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 121, Issue 3, 1999, Pages 448-456

  Gu, Min ^a   Asokanthan, Samuel F ^a  

^a Lfniversity of Queensland ^*  (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 2542584061     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2802495     Document Type: Article

References (20)

1. Asokanthan, S. F., and Gu, M., 1995, “Distributed Control of Flexible Structure: Theory and Experiments,” Proceedings of Asia-Pacific Control Conference 95, Kuala Lumpur, Malaysia, Dec.
2. Asokanthan, S. F., and Gu, M., 1997, “Modified Lyapunov Control Law for Torsional Vibration Suppression using Laminated PVDF Actuator,” Proceedings of the 1997 American Control Conference, Vol. 6, pp. 3552-3556, Albuquerque, NM, June.
3. Bailey, T., and Hubbard, Jr., J. E., 1985, “Distributed Piezoelectric Polymer Active Vibration Control of a Cantilever Beam,” J. Guidance, Control and Dynamics, Vol. 8, No. 5, pp. 605-611.
4. Book, W. J., and Majette, M., 1983, “Controller Design for Flexible Distributed Mechanical Arms Via Combined State Space and Frequency Domain Techniques,” ASME Journal of Dynamic Systems, Measurements and Control, Vol. 105, pp. 245-254.
5. Book, W. J., 1990, “Modeling, Design and Control of Flexible Manipulator Arms: A Tutorial Review,” Proceedings IEEE Conference of Decision and Control, pp. 500-506.
6. Brueke, S. E., and Hubbard, Jr., J. E., 1990, “Distributed Transducers for Structural Measurement and Control,” Control and Dynamic System, Vol. 36, pp. 223-273.
7. Crawley, E. F., and De Luis, J., 1987, “Use of Piezoelectric Actuators as Elements of Intelligent Structures,” AIAA Journal, Vol. 25, No. 10, pp. 1373-1385.
8. Garcia, E., and Inman, D. J., 1991, “Modeling of the Slewing control of a Flexible Structure,” J. Of Guidance, Control, and Dynamics, Vol. 14, No. 4, pp. 736-742.
9. Junkins, L. J., Rahman, Z. H., and Bang, H., 1991, “Near-Minimum-Time Control of Distributed Parameter System: Analytical and Experimental Results,” J. Of Guidance, Control, and Dynamics, Vol. 14, No, 2, pp. 406-415.
10. Meirovitch, L., 1967, Analytical Methods in Vibrations, Macmillan Series in Applied Mechanics, New York, NY: Macmillan Company.
11. Milford, R. I., and Asokanthan, S. F., 1996, “Experimental On-line Frequency Domain Identification and Control of A Flexible Slewing Beam,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 118, pp. 58-65.
12. Li, Z., and Bainum, P. M., 1994, “Vibration Control of Flexible Spacecraft Integrating a Momentum Exchange Controller and a Distributed Piezoelectric Actuator,” J. Of Sound and Vibration, Vol. 177, No. 4, pp. 539-553.
13. Oakley, C. M., 1991, “Experiments in Modeling and End-Point Control of Two-Link Flexible Manipulators,” Ph.D. thesis, Department of Mechanical Engineering, Stanford University, SUDAAR 603, Apr.
14. Pennwalt Corporation, 1983, Kynar Piezoelectric Film Manual, Pennwalt Corporation.
15. Seung-Bok Choi, and Ho-Cheol Shin, 1996, “A Hybrid Actuator Scheme for Robust Position Control of a Flexible single-link Manipulator,” J. Of Robotic Systems, Vol. 13, No. 6, pp. 359-370.
16. Spearritt, D. J., and Asokanthan, S. F., 1996, “Development of A Spatially Distributed Torsional Vibration Actuator,” J. Of Sound and Vibration, Vol. 193, No. 5, pp. 941-956.
17. Tzou, H. S., Wan, G. C., and Tseng, C. I., 1989, “Dynamics and Distributed Vibration Controls of Flexible Manipulators: Integrated Distributed Sensing and Active Piezoelectric Actuator,” Proceedings International Conference on Robotics and Automation, pp. 1716-1721.
18. Woerkom, P., Th. L. M. Van, 1995, “Modified Dynamics Modeling for Maneuvering Flexible Space Manipulators,” J. Of Sound and Vibration, Vol. 179, No. 5, pp. 777-792.
19. Yang, S. M., and Liu, Y. C., 1995, “Frequency Domain Control of Flexible Beams with Piezoelectric Actuator,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 117, pp. 541-546.
20. Yuan, K., and Hu, C. M., 1996, “Nonlinear Modeling and Partial Linearizing Control of a Slewing Timoshenko-Beam,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 118, pp. 75-83.