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Noncollocated passivity-based PD control of a single-link flexible manipulator

Published online by Cambridge University Press:  19 February 2003

Liang-Yih Liu  and
King Yuan
Liang-Yih Liu
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan (R.O.C.)
King Yuan
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan (R.O.C.)
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Abstract

The passivity property of a noncollocated single-link flexible manipulator with a parameterized output is studied. The system can be characterized by either the irrational transfer function of an infinite-dimensional model or its truncated rational transfer functions. Necessary and sufficient conditions for these transfer functions to be passive are found. It is also shown that a non-passive, marginal minimum-phase, truncated transfer function can be rendered passive by using either the root strain feedback or the joint angular acceleration feedback. For the noncollocated truncated passive transfer function, a PD controller suffices to stabilize the overall system. Numerical results are given to show the efficacy of the proposed approaches.

Keywords

Flexible manipulatorNoncollocated systemFeedback passivationPD control
Type
Research Article
Information
Robotica , Volume 21 , Issue 2 , March 2003 , pp. 117 - 135
Copyright
© 2003 Cambridge University Press

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