Flatness-based and energy-based control for distributed parameter robotic systems

Rigatos, GG; Tzafestas, SG

dc.contributor.author	Rigatos, GG	en
dc.contributor.author	Tzafestas, SG	en
dc.date.accessioned	2014-03-01T02:52:00Z
dc.date.available	2014-03-01T02:52:00Z
dc.date.issued	2009	en
dc.identifier.issn	14746670	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35802
dc.subject	Distributed parameter systems	en
dc.subject	Energy-based control	en
dc.subject	Flatness-based control	en
dc.subject	Flexible-link robots	en
dc.subject	Trajectory tracking	en
dc.subject.other	Distributed parameter systems	en
dc.subject.other	Energy-based control	en
dc.subject.other	Flatness-based control	en
dc.subject.other	Flexible link robot	en
dc.subject.other	Trajectory tracking	en
dc.subject.other	Flexible manufacturing systems	en
dc.subject.other	Flexible structures	en
dc.subject.other	Mathematical models	en
dc.subject.other	Robotics	en
dc.subject.other	Robots	en
dc.subject.other	Distributed parameter control systems	en
dc.title	Flatness-based and energy-based control for distributed parameter robotic systems	en
heal.type	conferenceItem	en
heal.identifier.primary	10.3182/20090603-3-RU-2001.0345	en
heal.identifier.secondary	http://dx.doi.org/10.3182/20090603-3-RU-2001.0345	en
heal.publicationDate	2009	en
heal.abstract	The paper presents a comparative study between flatness-based control and energy-based control when applied to flexible link robots. Flatness-based control is an open-loop nonlinear control method which is suitable for differentially flat systems i.e. systems the behavior of which is determined by a finite collection of quantities, consisting of the flat output and its derivatives. On the other hand energy-based control is a closed-loop control method, which unlike the absence of an explicit mathematical model of the flexible-link dynamics can succeed satisfactory performance of the associated control loop. The performance of flatness-based control is tested against energy-based control through simulation experiments. © 2009 IFAC.	en
heal.journalName	IFAC Proceedings Volumes (IFAC-PapersOnline)	en
dc.identifier.doi	10.3182/20090603-3-RU-2001.0345	en
dc.identifier.volume	13	en
dc.identifier.issue	PART 1	en
dc.identifier.spage	1847	en
dc.identifier.epage	1852	en