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Mechanical Engineering Commons

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1993

University of Nevada, Las Vegas

Controls and Control Theory

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Full-Text Articles in Mechanical Engineering

Variable Structure End Point Control Of A Flexible Manipulator, Shailaja Chenumalla, Sahjendra N. Singh Jul 1993

Variable Structure End Point Control Of A Flexible Manipulator, Shailaja Chenumalla, Sahjendra N. Singh

Electrical and Computer Engineering Faculty Publications

We treat the question of control and stabilization of the elastic multibody system developed in the Phillips Laboratory, Edwards Air Force Base, California. The controlled output is judiciously chosen such that the zero dynamics are stable or almost stable. A variable structure control (VSC) law is derived for the end point trajectory control. Although, the VSC law accomplishes precise end point tracking, elastic modes are excited during the maneuver of the arm. A Linear stabilizer is designed for the final capture of the terminal state.