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Noncollocated passivity-based PD control of a single-link flexible manipulator

Published online by Cambridge University Press:  19 February 2003

Liang-Yih Liu  and
King Yuan
Liang-Yih Liu
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan (R.O.C.)
King Yuan
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan (R.O.C.)
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Abstract

The passivity property of a noncollocated single-link flexible manipulator with a parameterized output is studied. The system can be characterized by either the irrational transfer function of an infinite-dimensional model or its truncated rational transfer functions. Necessary and sufficient conditions for these transfer functions to be passive are found. It is also shown that a non-passive, marginal minimum-phase, truncated transfer function can be rendered passive by using either the root strain feedback or the joint angular acceleration feedback. For the noncollocated truncated passive transfer function, a PD controller suffices to stabilize the overall system. Numerical results are given to show the efficacy of the proposed approaches.

Keywords

Flexible manipulatorNoncollocated systemFeedback passivationPD control

Information

Type
Research Article
Information
Robotica , Volume 21 , Issue 2 , March 2003 , pp. 117 - 135
Copyright
© 2003 Cambridge University Press

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