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2024 | OriginalPaper | Chapter

Motion Tracking of a Rigid-Flexible Link Manipulator in a Controller Failure Condition

Authors : Elżbieta Jarzębowska, Krzysztof Augustynek, Andrzej Urbaś

Published in: Perspectives in Dynamical Systems I — Applications

Publisher: Springer International Publishing

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Abstract

The paper presents its contribution to tracking control of systems in failure work conditions. The example we examine is a three link planar manipulator with rigid and flexible links, for which one of actuators fails during its work. The work task for the manipulator is defined by the programmed constraints. The CoPCoD method is used to derive the reference motion dynamics and the tracking control after failure of one of manipulator actuators.

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previous chapter Energy Recovery Hybrid System with the Flywheel
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Literature
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Liu, Y., Yu, H.: A survey of underactuated mechanical systems. IET Control Theory & Applications 7(7), 921–935 (2013).MathSciNetCrossRef
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Jarzębowska, E., Urbaś, A., Augustynek, K.: Analysis of influence of a crane flexible supports, link flexibility, and joint friction on vibration associated with programmed motion execution. Journal of Vibration Engineering & Technologies 8, 337–350 (2020).CrossRef
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Nersesov, S.G., Ashrafiuon, H., Ghorbanian, P.: On the stability of sliding mode control for a class of underactuated nonlinear systems. Proc. of the 2010 American Control Conference, Baltimore, USA, 3446–3451 (2010).
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Zhong-Ping J.: Controlling Underactuated Mechanical Systems: A Review and Open Problems. in Lecture Notes in Control and Information Sciences book series 2010, 407, 77–88.
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Metadata
Title
Motion Tracking of a Rigid-Flexible Link Manipulator in a Controller Failure Condition
Authors
Elżbieta Jarzębowska
Krzysztof Augustynek
Andrzej Urbaś
Copyright Year
2024
Book
Perspectives in Dynamical Systems I — Applications

Print ISBN: 978-3-031-56491-8

Electronic ISBN: 978-3-031-56492-5

Copyright Year: 2024

DOI
https://doi.org/10.1007/978-3-031-56492-5_21

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