Master-Slave Composite Vibration Control of a Mobile Flexible Manipulator via Synchronization Optimization of Observation and Feedback
نویسندگان
چکیده
منابع مشابه
H∞ Control for Master-slave Synchronization of Lur’e Systems with Time-delay Feedback Control
This paper deals with the problems of stability analysis and control synthesis with H∞ performance for the master-slave synchronization of Lur’e systems using a time-delay feedback control. The proposed approach consists in obtaining a new improvedH∞ robust stability criteria as well as a control law based on linear matrix inequalities (LMIs) via discretized Lyapunov–Krasovskii functional combi...
متن کاملSynchronization of a class of master-slave non-autonomous chaotic systems with parameter mismatch via sinusoidal feedback control
In this paper we investigate a master-slave synchronization scheme of two n-dimensional non-autonomous chaotic systems coupled by sinusoidal state error feedback control, where parameter mismatch exists between the external harmonic excitation of master system and that of slave one. A concept of synchronization with error bound is introduced due to parameter mismatch, and then the bounds of syn...
متن کاملMaster-Slave Teleoperation Method of Redundant Manipulator
Abstract. This paper introduces a master-slave control method of teleoperating a redundant manipulator with double handles. The master handles send motion commands in the form of increments. The mapping module transforms the commands into homogeneous matrices. And the slave manipulator links discrete motion commands in the mode of PVAT automatically, by inverse kinematics and fifth-order polyno...
متن کاملQFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملVibration Based Control for Flexible Link Manipulator
Robotic manipulators are widely used to help in dangerous, monotonous, and tedious jobs. Most of the existing robotic manipulators are designed and built in a manner to maximize stiffness in an attempt to minimize the vibration of the end-effectors. This high stiffness is achieved by using heavy material and bulky design. Hence, the existing heavy rigid manipulators are shown to be inefficient ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Complexity
سال: 2019
ISSN: 1076-2787,1099-0526
DOI: 10.1155/2019/5347460