Improving force control bandwidth of flexible-link arms through output redefinition

Title: Improving force control bandwidth of flexible-link arms through output redefinition
Creator: Bazaei, Ali; Moallem, Mehrdad
Relation: IEEE-ASME Transactions on Mechatronics Vol. 16, Issue 2, p. 380-386
Publisher Link: http://dx.doi.org/10.1109/TMECH.2010.2046332
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2011
Description: For a constrained flexible beam actuated at one end, we introduce three outputs to achieve fast regulation of the nonminimum phase endpoint force. To this end, three auxiliary signals, i.e., angular displacement, moment, and shear force at the hub are utilized to define new outputs, which are referred to as redefined outputs. Each redefined output is composed of the endpoint force augmented by the time derivative of an auxiliary signal measured at the hub. It is shown that using the redefined outputs along with proper controllers can significantly improve control performance, such as bandwidth, robustness, and error performance. Analytical results are presented that illustrate how bandwidth improvements in a force control loop can be achieved. The results are further verified through simulations and experimental studies.
Subject: control bandwidth; flexible link; force control; nonminimum-phase (NMP) systems; output redefinition
Identifier: http://hdl.handle.net/1959.13/1325368
Identifier: uon:25254
Identifier: ISSN:1083-4435
Language: eng
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