Complexity 2018:1-9 (2018)

This paper studies the problems of tip position regulation and vibration suppression of flexible manipulators without using the model. Because of the two-timescale characteristics of flexible manipulators, applying the existing model-free control methods may lead to ill-conditioned numerical problems. In this paper, the dynamics of a flexible manipulator is decomposed into two subsystems which are linear and controllable at different timescales by singular perturbation theory and a model-free composite controller is designed to alleviate the ill-conditioned numerical problems. To do this, a model-free composite control strategy is constructed which facilitates in designing the controller in slow and fast timescales. In the slow timescale, the slow subsystem controller is designed by adaptive dynamic programming based on the measurements of the slow inputs and the position, while the vibration in the slow timescale is estimated by the least square method. In the fast timescale, the vibration is reconstructed based on the measurements of vibration and its estimate in the slow timescale, by which the fast controller is designed using ADP. Stability of the closed-loop system is proved by SP theory. Finally, simulations are given to show the feasibility and effectiveness of the proposed methods.
Keywords No keywords specified (fix it)
Categories No categories specified
(categorize this paper)
DOI 10.1155/2018/9720309
Edit this record
Mark as duplicate
Export citation
Find it on Scholar
Request removal from index
Revision history

Download options

PhilArchive copy

Upload a copy of this paper     Check publisher's policy     Papers currently archived: 55,981
External links

Setup an account with your affiliations in order to access resources via your University's proxy server
Configure custom proxy (use this if your affiliation does not provide a proxy)
Through your library

References found in this work BETA

No references found.

Add more references

Citations of this work BETA

Add more citations

Similar books and articles

Belief in Free Will as an Adaptive, Ungrounded Belief.Matthew Smithdeal - 2016 - Philosophical Psychology 29 (8):1241-1252.
Control of Chaos and Memory Dynamics.Richard A. Heath - 2001 - Behavioral and Brain Sciences 24 (5):817-818.
Capturing Dynamic Conceptual Frames.Rafal Urbaniak - 2010 - Logic Journal of the IGPL 18 (3):430-455.


Added to PP index

Total views
18 ( #558,610 of 2,403,534 )

Recent downloads (6 months)
3 ( #256,265 of 2,403,534 )

How can I increase my downloads?


My notes