Title:
An integral manifold approach to control of a one link flexible arm
An integral manifold approach to control of a one link flexible arm
Author(s)
Siciliano, Bruno
Book, Wayne J.
De Maria, Giuseppe
Book, Wayne J.
De Maria, Giuseppe
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Abstract
The problem of controlling a one link flexible arm is considered in this paper. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An integral manifold approach is proposea leading to the derivation of a reduced order system which incorporates the effects of the flexibility distributed along the structure. An approximate technique is finally presented which allows the synthesis of a feedback linearizing control
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Date Issued
1986-12
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Text
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Proceedings
Post-print
Post-print