We are not able to resolve this OAI Identifier to the repository landing page. If you are the repository manager for this record, please head to the Dashboard and adjust the settings.
This thesis introduces two schemes that control the end effector trajectory and stabilize a two-link flexible robotic arm. They are (i) The Inverse Trajectory Control scheme and (ii) The Variable Structure System (VSS) scheme; The Inverse Trajectory Control scheme develops a control law based on the inversion of an input-output map. The stable maneuver of the arm depends on the stability of the zero dynamics of the system. A linear stabilizer is designed for the final capture of the terminal state and stabilization of the elastic modes; The second scheme incorporates a Variable Structure Control law which includes robustness in its design. A discontinuous output control law is derived which accomplishes the desired trajectory tracking of the output. This control scheme involves two phases, the \u27reaching phase\u27 and the \u27sliding phase\u27; Simulation results are presented to show that large maneuvers can be performed in the presence of payload uncertainty. (Abstract shortened with permission of author.)
Is data on this page outdated, violates copyrights or anything else? Report the problem now and we will take corresponding actions after reviewing your request.