VIBRATION CONTROL ROBUST TO PARAMETER VARIATIONS IN A VERY FLEXIBLE MANIPULATOR FABRICATED FROM COMPOSITE LAMINATES

被引：7

作者：

CHOI, SB ^{[1
]}

CHEONG, CC ^{[1
]}

THOMPSON, BS ^{[1
]}

GANDHI, MV ^{[1
]}

机构：

[1] MICHIGAN STATE UNIV,DEPT MECH ENGN,E LANSING,MI 48824

来源：

JOURNAL OF SOUND AND VIBRATION | 1993年 / 162卷 / 02期

关键词：

D O I：

10.1006/jsvi.1993.1113

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

A non-linear state feedback controller which is robust to system variations caused by uncertain parameters such as varying payload is developed for the position control of a single-link flexible manipulator fabricated from composite laminates. The effects of several uncertain parameters as well as the interaction of these parameters are considered without assuming the matching conditions on the uncertainties. The properties of the uniformly and ultimate uniformly boundedness of the solution of the system state equations are employed to formulate the controller. It is demonstrated through the simulation work that the proposed non-linear feedback controller has much better capability of arresting the unwanted vibration than the linear controller in the presence of uncertainties. © 1993 Academic Press Limited.

引用

页码：195 / 207

页数：13

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