{"title":"基于鲁棒模型匹配控制的柔性机械臂振动控制","authors":"Jinaming Lu, Muhammad Shafiq, T. Yahagi","doi":"10.1109/AMC.1996.509327","DOIUrl":null,"url":null,"abstract":"Presents a new method for the vibration control of flexible robotic arms using a robust model matching control strategy. To reduce the order of the compensator the rigid-body mode and the first flexible mode are considered as a nominal model. The other flexible modes are considered as unmodeled dynamics. The method is suitable to robustly control the nominal model in the presence of unmodeled flexible dynamics and achieve the desired model matching simultaneously. Moreover, the sufficient condition for stabilizing the nominal model in the presence the unmodeled flexible dynamics is derived. Finally, computer simulation results are presented to demonstrate the effectiveness of the proposed method.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Vibration control of flexible robotic arms using robust model matching control\",\"authors\":\"Jinaming Lu, Muhammad Shafiq, T. Yahagi\",\"doi\":\"10.1109/AMC.1996.509327\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Presents a new method for the vibration control of flexible robotic arms using a robust model matching control strategy. To reduce the order of the compensator the rigid-body mode and the first flexible mode are considered as a nominal model. The other flexible modes are considered as unmodeled dynamics. The method is suitable to robustly control the nominal model in the presence of unmodeled flexible dynamics and achieve the desired model matching simultaneously. Moreover, the sufficient condition for stabilizing the nominal model in the presence the unmodeled flexible dynamics is derived. Finally, computer simulation results are presented to demonstrate the effectiveness of the proposed method.\",\"PeriodicalId\":360541,\"journal\":{\"name\":\"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1996-03-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AMC.1996.509327\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.1996.509327","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Vibration control of flexible robotic arms using robust model matching control
Presents a new method for the vibration control of flexible robotic arms using a robust model matching control strategy. To reduce the order of the compensator the rigid-body mode and the first flexible mode are considered as a nominal model. The other flexible modes are considered as unmodeled dynamics. The method is suitable to robustly control the nominal model in the presence of unmodeled flexible dynamics and achieve the desired model matching simultaneously. Moreover, the sufficient condition for stabilizing the nominal model in the presence the unmodeled flexible dynamics is derived. Finally, computer simulation results are presented to demonstrate the effectiveness of the proposed method.