Collocated and non-collocated control of flexible manipulators
This chapter presents the development of closed-loop control strategies for flexible manipulator systems based on collocated and non-collocated control. A closed-loop control strategy using hub-angle and hub-velocity feedback for rigid-body motion control and end-point acceleration feedback forflexural motion control is considered. This is then extended to an adaptive collocated and non-collocated control mechanism using online modelling and controller design. Proportional, integral, derivative (PID) type as well as inverse-model control techniques are considered for flexural motion control. The non-minimum phase behaviour of the plant in the latter case is addressed through conventional techniques. This is further addressed through development of an adaptive neuro-inverse model strategy. The control strategies thus developed are verified and their performances assessed through simulated and experimental exercises.
Collocated and non-collocated control of flexible manipulators, Page 1 of 2
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