Inverse and variable structure trajectory control of a flexible robotic manipulator

This thesis introduces two schemes that control the end effector trajectory and stabilize a two-link flexible robotic arm. They are (i) The Inverse Trajectory Control scheme and (ii) The Variable Structure System (VSS) scheme; The Inverse Trajectory Control scheme develops a control law based on the inversion of an input-output map. The stable maneuver of the arm depends on the stability of the zero dynamics of the system. A linear stabilizer is designed for the final capture of the terminal state and stabilization of the elastic modes; The second scheme incorporates a Variable Structure Control law which includes robustness in its design. A discontinuous output control law is derived which accomplishes the desired trajectory tracking of the output. This control scheme involves two phases, the 'reaching phase' and the 'sliding phase'; Simulation results are presented to show that large maneuvers can be performed in the presence of payload uncertainty. (Abstract shortened with permission of author.).

Name thesis:degree_name

Master of Science (MS)

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Grantor dc:publisher

University of Nevada, Las Vegas

Year

1991

Author dc:creator

• Madhavan, Sethu K

Contributors dc:contributor

• Sahjendra N. Singh

Statement dc:rights

• IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/

Language dc:language

English

Identifier

https://oasis.library.unlv.edu/rtds/174

OAI identifier oai:identifier

oai:oasis.library.unlv.edu:rtds-1173