SDRE applied to position and vibration control of a robot manipulator with a flexible link

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dc.contributor.authorDe Lima, Jeferson José
dc.contributor.authorTusset, Angelo Marcelo
dc.contributor.authorJanzen, Frederic Conrad
dc.contributor.authorPiccirillo, Vincius
dc.contributor.authorNascimento, Claudinor Bitencourt
dc.contributor.authorBalthazar, José Manoel [UNESP]
dc.contributor.authorDa Fonseca Brasil, Reyolando Manoel Lopes Rebello
dc.contributor.institutionUTFPR
dc.contributor.institutionUniversidade Estadual Paulista (Unesp)
dc.contributor.institutionUniversidade Federal do ABC (UFABC)
dc.date.accessioned2018-12-11T17:30:04Z
dc.date.available2018-12-11T17:30:04Z
dc.date.issued2016-01-01
dc.description.abstractThis 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.en
dc.description.affiliationUTFPR
dc.description.affiliationUNESP
dc.description.affiliationUFABC
dc.description.affiliationUnespUNESP
dc.format.extent1067-1078
dc.identifierhttp://dx.doi.org/10.15632/jtam-pl.54.4.1067
dc.identifier.citationJournal of Theoretical and Applied Mechanics (Poland), v. 54, n. 4, p. 1067-1078, 2016.
dc.identifier.doi10.15632/jtam-pl.54.4.1067
dc.identifier.issn1429-2955
dc.identifier.scopus2-s2.0-84994126560
dc.identifier.urihttp://hdl.handle.net/11449/178393
dc.language.isoeng
dc.relation.ispartofJournal of Theoretical and Applied Mechanics (Poland)
dc.relation.ispartofsjr0,321
dc.rights.accessRightsAcesso restrito
dc.sourceScopus
dc.subjectActive vibration control
dc.subjectFlexible robotic arm
dc.subjectSDRE control
dc.subjectSMA
dc.titleSDRE applied to position and vibration control of a robot manipulator with a flexible linken
dc.typeArtigo

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Artigos - Estatistica, Matemática Aplicada e Computação - IGCE