... major disruptions to operation of plants and physical harm to operators. fault detection and isolation sliding mode observer nonlinear systems cascade control fault diagnosis flexible manipulators nonlinear control systems observers variable structure systems 23 06 2008...

...William J. O’Connor; David J. McKeown This paper presents a new, robust, time-optimal control strategy for flexible manipulators controlled by acceleration-limited actuators. The strategy is designed by combining the well-known, open-loop, time-optimal solution with wave-based feedback control...

... feedback flexible manipulators matrix algebra sensors Many methods exist for modeling flexible structures under some form of feedback control. The assumed modes method has been used by De Luca and Siciliano ( 1 ), Kang and Mills ( 2 ), and others. Chalhoub and Chen ( 3 ) used floating reference...

... of the manipulator tip tracking error and the control effort. A numerical example employing a two-link flexible manipulator is used to demonstrate the effectiveness of the optimal gain-scheduling algorithm. The closed-loop system performance is improved, and it is shown that the optimal scheduling signals...

... feedback variable-structure control neural networks flexible manipulators Lyapunov methods neurocontrollers observers state feedback variable structure systems 08 03 2007 18 02 2009 29 04 2009 2009 American Society of Mechanical Engineers ...

... springs (mechanical) couplings flexible manipulators robust control flexible-link robot arm friction compensation serial gray box singular perturbation distributed mass-spring model Friction exists in all mechanical systems with complicated and time-varying characteristics and its...

... January 2003 08 December 2003 11 03 2005 linear quadratic Gaussian control singularly perturbed systems singular optimal control continuous time systems Kalman filters reduced order systems Riccati equations discrete time systems flexible manipulators Singular...

... are stable and can be inverted. An experimental setup of a single-link flexible manipulator is considered as a practical case study of a nonlinear nonminimum phase system. Experimental results are presented to illustrate the advantages and improved performance of the proposed tracking controller over both...

... 19 September 2003 05 08 2004 flexible manipulators Lyapunov methods piezoelectric actuators damping multidimensional systems convergence vibrations controllers The suppression of vibration is a problem of primary importance in many engineering fields, among which robotics...

... , “ An Inner/Outer Loop Controller for Rigid-Flexible Manipulators ,” ASME J. Dyn. Syst., Meas., Control , 114 , pp. 580 – 585 . Yigit , A. S. , 1994 , “ On the Stability of PD Control for a Two-Link Rigid-Flexible Manipulator ,” ASME J. Dyn. Syst., Meas., Control , 116 , pp. 208 – 213...

..., AND CONTROL . Manuscript received by the ASME Dynamic Systems and Control Division January 21, 2002; final revision, July 16, 2003. Associate Editor: R. Ghulil. 21 January 2002 16 July 2003 12 04 2004 vibration control flexible manipulators flexible structures Input shaping...

..., dithering is often not acceptable because, with it, motion never stops completely. end effectors industrial manipulators position control flexible manipulators stiction closed loop systems stability Armstrong-Helouvry , B. , Dupont , P. , and De Witt , C. C. , 1994...

... SYSTEMS, MEASUREMENT, AND CONTROL . Manuscript received by the ASME Dynamic Systems and Control Division October 22, 2001; final revision, April 22, 2003. Associate Editor: C. D. Rahn. 22 October 2001 22 April 2003 12 04 2004 flexible manipulators synchronisation tracking...

...M. Benosman; G. Le Vey; L. Lanari; A. De Luca In this work is considered the problem of rest-to-rest motion in a desired pre-fixed time for planar flexible manipulators. We introduce a simple idea permitting the minimization of end-effector residual vibration when reaching a desired angular...

... control system synthesis micromanipulators redundant manipulators flexible manipulators manipulator dynamics position control stability 2 In many practical applications involving long-reach manipulation it is desirable to have a smaller manipulator, called a micromanipulator, located...

...Qiao Sun 10 03 2003 flexible manipulators position control stability inverse problems actuators nonlinear dynamical systems In the above paper, the vertical axis labels for Figs. 5 , 6 , and 7 were illegible. Corrected figures are provided below. 5 Simulation...

... Editor: C. Rahn. 01 Aug 2001 01 May 2002 16 12 2002 flexible manipulators feedback tracking singularly perturbed systems In past decades, numerous attempts have been made on the control of flexible manipulators which have light weight arms. Such manipulators always...

..., AND CONTROL . Manuscript received by the Dynamic Systems and Control Division June 4, 2001. Associate Editor: C. Rahn. A central problem in control of multiple flexible manipulator systems is the internal force coordination. Previous research on this subject has been to control the internal forces so...

... , “ Point Control of a One-link Flexible Manipulator ,” ASME J. Appl. Mech. , 53 , pp. 23 – 27 . Bayo , E. , 1987 , “ A Finite-Element Approach to Control the End-point Motion of a Single-link Flexible Robot ,” J. Rob. Syst. , 4 , pp. 63 – 75 . Ge , S. S. , Lee , T. H...

... 2000 flexible manipulators variable structure systems learning systems pole assignment control system synthesis vibration control convergence frequency-domain synthesis Fourier series Variable Structure Control (VSC) is well noted for its simplicity in implementation...