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Nonlinear modeling and control of flexible-link manipulators subjected to parametric excitation

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Abstract

This paper presents nonlinear dynamic modeling and control of flexible-link manipulators subjected to parametric excitation. The equations of motion are obtained using the Lagrangian-assumed modes method. Singular perturbation methodology is developed for the nonlinear time varying equations of motion to obtain a reduced-order set of equations. Control strategies, computed torque control and a composite control, based on the singular perturbation formulation developed, are utilized to reduce mechanical vibrations of the flexible-link and enable better tip positioning. Under the composite control technique, the effect of the value of perturbation parameter on the control signal is investigated. Numerical simulations supported by real-time experiments show that the singular-perturbation control methodology developed for the nonlinear time-varying system offers better system response over the computed torque control as the manipulator is commanded to follow a certain trajectory.

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Authors and Affiliations

  1. Faculty of Engineering and Material Science, The German University in Cairo, Cairo, Egypt

    Ayman A. El-Badawy, Mohamed W. Mehrez & Amir R. Ali

Authors
  1. Ayman A. El-Badawy
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  2. Mohamed W. Mehrez
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  3. Amir R. Ali
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Correspondence to Ayman A. El-Badawy.

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El-Badawy, A.A., Mehrez, M.W. & Ali, A.R. Nonlinear modeling and control of flexible-link manipulators subjected to parametric excitation. Nonlinear Dyn 62, 769–779 (2010). https://doi.org/10.1007/s11071-010-9761-z

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  • DOI: https://doi.org/10.1007/s11071-010-9761-z

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