Li et al., 2005 - Google Patents
Robust control of a hydraulically driven flexible arm using backstepping techniqueLi et al., 2005
- Document ID
- 9671578874976476800
- Author
- Li G
- Khajepour A
- Publication year
- Publication venue
- Journal of Sound and Vibration
External Links
Snippet
In this paper, a new robust controller is proposed to regulate both flexural vibrations and rigid body motion of a hydraulically driven flexible arm. The proposed controller combines backstepping, sliding mode, and pole placement techniques to arrive at a controller capable …
- 238000000034 method 0 title abstract description 26
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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