Repositioning control of a two-link flexible arm by learning

被引：21

作者：

Lucibello, P

Panzieri, S

Ulivi, G

机构：

[1] UNIV ROMA LA SAPIENZA, DIPARTIMENTO INFORMAT & SISTEMIST, I-00184 ROME, ITALY

[2] UNIV ROMA TRE, DIPARTIMENTO INFORMAT & AUTOMAZ, I-00146 ROME, ITALY

来源：

AUTOMATICA | 1997年 / 33卷 / 04期

关键词：

nonlinear systems; flexible arms; learning control; singular perturbation method; robustness;

D O I：

10.1016/S0005-1098(96)00199-9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A finite dimensional algorithm is presented which by trial searches for a control law is able to move a two-link flexible arm between two given equilibrium configurations in a finite time interval. Using a singular perturbation analysis, the possibility of considering the system as a linear perturbed one is shown, allowing the use of a linear learning algorithm which is able to reject all the nonlinear disturbances. The effectiveness of this algorithm is proven by theoretical arguments and experimental results. Robustness with respect to unmodeled high frequency dynamics is also addressed. (C) 1997 Elsevier Science Ltd.

引用

页码：579 / 590

页数：12

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