Abstract
Since the two-link flexible manipulator is an underactuated system which provide a challenge to control engineers and researchers. In order to control this kind of systems more effectively, many new control theories and methods are explored to use to design controller. Among these methods, the energy-based control design method has gained a lot of attentions in these years, which can provide more physical insights in nonlinear control. Especially, the port-controlled Hamiltonian system and generalized canonical transformation has some advantages on the modeling and control design of these nonlinear systems. In this paper, we proposed a control design for two-link flexible manipulators via generalized canonical transformation, arid the simulation results are shown to prove the effectiveness of the controllers.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
