Dynamics based control of flexible multi-body system with geometric constraint based on distributed parameter

点击翻译按钮获取中文摘要

1.Cooperative control of two flexible manipulatorsWe proposed robust cooperative control law of two two-link flexible manipulators based on quasi-static equations. We also proposed PDS cooperative control law of two one-link flexible arms. To demonstrate the validity of the proposed controllers, experiments carried out. The experimental results ensure the validity of the derived model and the effectiveness of the proposed controller.2.Passivity of flexible manipulatorsWe showed that the property of passivity is satisfied in case of one-link flexible manipulators based on distributed parameter model. For n-link-flexible manipulators we showed the similar result using an approximated model.3.PDS control of a flexible space structure with a closed-loop chain mechanismWe proposed PDS controller of two interconnected flexible beams based on distributed parameter model. The effectiveness of the proposed PDS controller is supported by experimental tests that have been carried out to demonstrate robustness of the controller with respect to plant parameter variations.