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Author Fanni, Mohameden_US
Author Abdel-Rahman, Tareken_US
Author Al-Salem, Nabeelen_US
Available date 2009-11-25T13:06:06Zen_US
Publication Date 2000en_US
Publication Name Engineering Journal of Qatar University
Citation Engineering Journal of Qatar University, 2000, Vol. 13, Pages 291-305.en_US
URI http://hdl.handle.net/10576/7964en_US
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 enen_US
Publisher Qatar Universityen_US
Subject Mechanical Engineeringen_US
Title Time-Optimal Control Of High-Speed Flexible-Robot Arm Using PD Algorithmsen_US
Type Articleen_US
Pagination 291-305en_US
Volume Number 13en_US


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