Application of Cyclic Control to a Two-link Flexible Arm

doi:10.1016/S0005-1098(98)00046-6

Automatica

Volume 34, Issue 8, August 1998, Pages 1025-1029

https://doi.org/10.1016/S0005-1098(98)00046-6 Get rights and content

Abstract

A servosystem recently proposed in the literature is applied to the nonlinear control of a two link flexible arm. This control algorithm allows the execution of cycles defined by points to be attained at given time instants. Differently from repetitive control and learning control, where exact trajectory tracking is considered, the control problem herein formulated cares only for points. The control scheme developed is finite dimensional and does not need system re-initialization at each trial, since the new trial starts from the point reached at the end of the previous one. Experimental results show that the proposed algorithm allows a good control of the flexible arm considered.

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Cited by (3)

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^☆: This paper has been partly supported by Murst 40% funds. A preliminary version of this paper has been presented by the same authors at the 13th IFAC World Congress, San Francisco, California, 30 June–5 July 1996. This paper was recommended for publication in revised form by Associate Editor Chaouki T. Abdallah under the direction of Editor Peter Dorato.

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Technical CommuniqueApplication of Cyclic Control to a Two-link Flexible Arm☆

Abstract

Technical Communique
Application of Cyclic Control to a Two-link Flexible Arm☆