NDLI: An energy-based position control and asymptotic stability analysis for manipulator handling a flexible payload

Content Provider	IEEE Xplore Digital Library
Author	Shuyang Liu Zhiqian Wang Yanfeng Qiao Mujun Xie Yuanchun Li
Copyright Year	2012
Description	Author affiliation: Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, China (Zhiqian Wang; Yanfeng Qiao) \|\| Department of Control Engineering, Changchun University of Technology, China (Mujun Xie) \|\| State Key Laboratory of Automotive, Simulation and Control, Jilin University, Changchun, China (Shuyang Liu; Yuanchun Li)
Abstract	In this paper, an exact dynamic model of manipulator handling a flexible payload is derived by Hamiton's principle. On the basis of the distributed parameter model, a position controller is designed by using Lyapunov function related to the total energy of the system. The controller can achieve the given desired link angles and suppress the vibrations of flexible payload. Using the LaSalle's invariance principle and the characteristic of the differential operator, the asymptotic stability in the neighbor-hood of the desired states of the closed-loop system is proved. The effectiveness of the control strategy proposed is supported by some simulations.
Starting Page	3617
Ending Page	3622
File Size	153663
Page Count	6
File Format	PDF
ISBN	9781467313971
e-ISBN	9781467313988
DOI	10.1109/WCICA.2012.6359074
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-06
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Payloads Equations Eigenvalues and eigenfunctions Manipulator dynamics Mathematical model Asymptotic stability Distributed parameter model Flexible payload LaSalle's invariance principle
Content Type	Text
Resource Type	Article

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