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dc.contributor.authorYuan, Bau-San
dc.contributor.authorBook, Wayne John
dc.date.accessioned2011-06-13T16:22:11Z
dc.date.available2011-06-13T16:22:11Z
dc.date.issued1987-11
dc.identifier.citationYuan, Bau-San, and W. Book, "A Robust Scheme for Direct Adaptive Control of Flexible Arms," presented at 1987 ASME Winter Annual Meeting, Nov., 1987, published in Modeling and Control of Robotic Manipulators and Manufacturing Processes, pp. 261-268.en_US
dc.identifier.isbn9789991643311
dc.identifier.urihttp://hdl.handle.net/1853/39089
dc.descriptionPresented at 1988 ASME Winter Annual Meeting, Nov. 27-Dec. 2. 1988, Published in proceedings volume: GOO463 Symposium on Robotics.en_US
dc.description.abstractIn exchange for light weight in the design of arms, one must accept an increase in system flexibility and the associated difficulty in accurately controlling a flexible structure. Both rigid body motions and flexural vibrations are required to model the dynamic system. A robust feedback control which is constructed is based on the Lyapounv function for the analysis of uniform boundedness. The control signal is synthesized from estimated states. This is accomplished by separating the system into two parts: linear and nonlinear (uncertainty in the linear model). Performance of a one-link flexible arm resulting from this control algorithm is compared with that of purely linear feedback control.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.titleA Robust Scheme for Direct Adaptive Control of Flexible Armsen_US
dc.typePre-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.publisher.originalAmerican Society of Mechanical Engineers


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