... major disruptions to operation of plants and physical harm to operators. fault detection and isolation sliding mode observer nonlinear systems cascade control fault diagnosis flexible manipulators nonlinear control systems observers variable structure systems 23 06 2008...

...William J. O’Connor; David J. McKeown This paper presents a new, robust, time-optimal control strategy for flexible manipulators controlled by acceleration-limited actuators. The strategy is designed by combining the well-known, open-loop, time-optimal solution with wave-based feedback control...

...-Kinematic Chains With Revolute and Prismatic Joints ,” J. Sound Vib. 0022-460X , 218 ( 1 ), pp. 45 – 63 . 10.1006/jsvi.1998.1779 Book , W. J. , 1984 , “ Recursive Lagrangian Dynamics of Flexible Manipulator Arms ,” Int. J. Robot. Res. 0278-3649 , 3 ( 3 ), pp. 87 – 101 . 10.1177...

... of the manipulator tip tracking error and the control effort. A numerical example employing a two-link flexible manipulator is used to demonstrate the effectiveness of the optimal gain-scheduling algorithm. The closed-loop system performance is improved, and it is shown that the optimal scheduling signals...

... experiments to demonstrate the practicality of our algorithms. 08 03 2007 18 02 2009 29 04 2009 flexible manipulators Lyapunov methods neurocontrollers observers state feedback variable structure systems flexible-joint robot backstepping intelligent control nonlinear...

... for the equivalent deflection angle, the spring coefficient, and the slope of the flexible-mode friction characteristic were derived. Feliu , V. , Rattan , K. S. , and Brown , H. B. , Jr. , 1990 , “ Adaptive Control of a Single-Link Flexible Manipulator ,” IEEE Control Syst. Mag. 0272...

... singular optimal control continuous time systems Kalman filters reduced order systems Riccati equations discrete time systems flexible manipulators Singular perturbation theory and control techniques to solve the singularly perturbed systems have received much attention by many researchers...

... are stable and can be inverted. An experimental setup of a single-link flexible manipulator is considered as a practical case study of a nonlinear nonminimum phase system. Experimental results are presented to illustrate the advantages and improved performance of the proposed tracking controller over both...

... 19 September 2003 05 08 2004 flexible manipulators Lyapunov methods piezoelectric actuators damping multidimensional systems convergence vibrations controllers The suppression of vibration is a problem of primary importance in many engineering fields, among which robotics...

..., AND CONTROL . Manuscript received by the Dynamic Systems and Control Division September 22, 2003. Associate Technical Editor: C. D. Rahn. 22 September 2003 05 08 2004 flexible manipulators industrial manipulators manipulator dynamics In the recent years, the industry has been...

..., MEASUREMENT, AND CONTROL . Manuscript received by the ASME Dynamic Systems and Control Division October 22, 2001; final revision, April 22, 2003. Associate Editor: C. D. Rahn. 22 October 2001 22 April 2003 12 04 2004 flexible manipulators synchronisation tracking state feedback...

...M. Benosman; G. Le Vey; L. Lanari; A. De Luca In this work is considered the problem of rest-to-rest motion in a desired pre-fixed time for planar flexible manipulators. We introduce a simple idea permitting the minimization of end-effector residual vibration when reaching a desired angular...

... increases the command rise time by the duration of the shaper, Δ. This paper presents new input shapers that allow the designer to trade off rise time against robustness to modeling errors, actuator effort, and excitation of unmodeled high modes. vibration control flexible manipulators flexible...

... August 2003 12 04 2004 end effectors industrial manipulators position control flexible manipulators stiction closed loop systems stability When precise control of the position of a mechanical system is the objective, nonlinearities such as stiction, Coulomb friction, backlash...

... micromanipulators redundant manipulators flexible manipulators manipulator dynamics position control stability 2 In many practical applications involving long-reach manipulation it is desirable to have a smaller manipulator, called a micromanipulator, located at the end of a larger arm, named...

...Qiao Sun 10 03 2003 flexible manipulators position control stability inverse problems actuators nonlinear dynamical systems In the above paper, the vertical axis labels for Figs. 5 , 6 , and 7 were illegible. Corrected figures are provided below. 5 Simulation...

..., MEASUREMENT, AND CONTROL . Manuscript received by the ASME Dynamic Systems and Control Division, Aug. 2001; final revision, May 2002. Associate Editor: C. Rahn. 01 Aug 2001 01 May 2002 16 12 2002 flexible manipulators feedback tracking singularly perturbed systems In past...

..., AND CONTROL . Manuscript received by the Dynamic Systems and Control Division June 4, 2001. Associate Editor: C. Rahn. 04 June 2001 flexible manipulators position control tracking cooperative systems stability inverse problems manipulator dynamics actuators torque redundant...

... of the proposed controller. Sinha , A. , 1988 , “ Optimum Vibration Control of Flexible Structures for Specified Modal Decay Rates ,” J. Sound Vib. , 123 , No. 1 , pp. 185 – 188 . Skaar , S. B. , and Tucker , D. , 1986 , “ Point Control of a One-link Flexible Manipulator ,” ASME J...

... ,” Int. J. Control , 73 , No. 3 , pp. 197 – 209 . Xu, J.-X., and Cao, W.-J., 1999, “Active Vibration Control of a Single-Link Flexible Manipulator by Pole-Placement Approach,” IEEE Proceedings of 38th Conference on Decision and Control , Dec., pp. 3888–3893. Xu, J.-X., and Cao, W.-J., 2000...