Publicação: SDRE APPLIED TO POSITION AND VIBRATION CONTROL OF A ROBOT MANIPULATOR WITH A FLEXIBLE LINK
Carregando...
Data
Orientador
Coorientador
Pós-graduação
Curso de graduação
Título da Revista
ISSN da Revista
Título de Volume
Editor
Polish Soc Theoretical & Applied Mechanics
Tipo
Artigo
Direito de acesso
Acesso restrito
Resumo
This paper presents position and vibration control of a flexible robot composed of two rigid and one flexible links. Position is controlled by the current applied to the DC motor armature. To control vibrations of the flexible structure, Shape Memory Alloys (SMA) are used. Due to phase transformations, the SMA can change its stiffness through temperature variation, considering and taking advantage of this characteristic the vibration control is done. Control is achieved via the State Dependent Ricatti Equations (SDRE) technique, which uses suboptimal control and system local stability search. The simulation results show the feasibility of the proposed control for the considered system.
Descrição
Palavras-chave
SDRE control, flexible robotic arm, SMA, active vibration control
Idioma
Inglês
Como citar
Journal Of Theoretical And Applied Mechanics. Warszawa: Polish Soc Theoretical & Applied Mechanics, v. 54, n. 4, p. 1067-1078, 2016.
