ILC for a Flexible Single-Link Manipulator
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In this chapter, the flexible single-link manipulator is described through a set of PDE, and the motion of rigid body is modeled as an ODE. The control objective is to regulate the rigid hub to track a constant trajectory and meanwhile to suppress the vibrations of flexible link, which is guaranteed by the boundary ILC law. The convergence of the closed-loop system is proved based on proper composite energy function, which is demonstrated by both simulation and experiment results.