An integral manifold approach to control of a one link flexible arm
- 1 December 1986
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1131-1134
- https://doi.org/10.1109/cdc.1986.267558
Abstract
The problem of controlling a one link flexible arm is considered in this paper. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An integral manifold approach is proposed leading to the derivation of a reduced order system which incorporates the effects of the flexibility distributed along the structure. An approximate technique is finally presented which allows the synthesis of a feedback linearizing control.Keywords
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