Abstract
This paper presents a high accurate reduced-order model for the output feedback controller which is newly derived on the basis of the modal component synthesis method for the vibration suppression control of a flexible robot arm. The output feedback control law combined the reduced-order model and the Minimum Error. Excitation Method is designed in order to obtain the system stable condition.The presented control law gives the stable gain for the vibration suppression. From the comparison of the numerical simulation results with the experiment ones using a two flexible links robot arm, the proposed reduced-order model represents system response accurately. The validity of the proposed output feedback law to suppress the vibration of the robot arm is verified by carrying out the experiment.
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 callMore From: JOURNAL OF THE MARINE ENGINEERING SOCIETY IN JAPAN
Disclaimer: 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.
