Time-Optimal Control Of High-Speed Flexible-Robot Arm Using PD Algorithms

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contributor.author Fanni, Mohamed en_US
contributor.author Abdel-Rahman, Tarek en_US
contributor.author Al-Salem, Nabeel en_US
date.accessioned 2009-11-25T13:06:06Z en_US
date.available 2009-11-25T13:06:06Z en_US
date.issued 2000 en_US
identifier.citation Engineering Journal of Qatar University, 2000, Vol. 13, Pages 291-305. en_US
identifier.uri http://hdl.handle.net/10576/7964 en_US
description.abstract This paper addresses utilization of proportional-plus derivative (PD) control algorithms for time-optimal control of flexible-robots. Flexibility is modeled using one mode of vibration with negligible structural damping. Two novel methods for time-optimal control were derived and closed form equations for tuning the required PD gains were obtained. The resulting controllers were used to control a high-speed flexible-robot for minimum settling time in response to a step angular motion command. Similarly, for the sake of comparison, three other techniques were used to control the same flexible-robot arm. The first used multi-switch bang-bang control technique. The second used PD approach in which the gains are computed through locating the dominant poles as far left as possible in the left hand side of the complex plane. The third approach used multi-switch bang-bang control followed by PD control. Uncertainties were introduced in the model to evaluate robustness of the methods. Results obtained showed that the novel techniques out performed the other ones. en_US
language.iso en en_US
publisher Qatar University en_US
subject Mechanical Engineering en_US
title Time-Optimal Control Of High-Speed Flexible-Robot Arm Using PD Algorithms en_US
type Article en_US
identifier.pagination 291-305 en_US
identifier.volume 13 en_US


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