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Advanced Robot Control pp 229–250Cite as

Long range predictive multivariable control of a two links flexible manipulator

  • Control Of Flexible Robots
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 162))

Abstract

In this paper, we are interested in the control of a two degree of freedom flexible arm. The objective is to develop a control algorithm that allows to follow some prespecified reference trajectories. Based on a linear two inputs-two outputs model, the control law proposed should cope with the flexibilities and the couplings between the two links for reasonable displacements. To this end, a long range predictive control with a precompensator is used to decouple with stability and to compensate for the vibration modes. Some experimental results on the flexible arm are given.

The authors are also with the GR "Automatique" - CNRS

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References

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Author information

Authors and Affiliations

  1. Laboratoire d'Automatique de Grenoble (INPG - CNRS), 38402 Saint-Martin d'Hères, BP 46, Ensieg

    J. M. Dion, L. Dugard & T. Nguyen thi Thanh

Authors
  1. J. M. Dion
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  2. L. Dugard
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  3. T. Nguyen thi Thanh
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Editor information

Carlos Canudas de Wit

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© 1991 Springer-Verlag

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Dion, J.M., Dugard, L., Nguyen thi Thanh, T. (1991). Long range predictive multivariable control of a two links flexible manipulator. In: Canudas de Wit, C. (eds) Advanced Robot Control. Lecture Notes in Control and Information Sciences, vol 162. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0039275

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  • DOI: https://doi.org/10.1007/BFb0039275

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-54169-1

  • Online ISBN: 978-3-540-47479-1

  • eBook Packages: Springer Book Archive

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