Intelligent Robust Controller for High Precision Actuated Compliant System

摘要

Actuated compliant mechanical system equations are reanalyzed to extend to possibly large values of compliance parameter as required for better control and realized with new materials. Usual asymptotic expansion of singular system structure for small compliance parameter is shown to embed in more general exact representation valid for any value of this parameter, where compliance variable splits into a main variable and its higher order variation. The main variable is algebraically determined from position variable, so it is not possible to act onto this variable from input control without antagonizing internal system dynamics. Natural control ordering is given for linear one-link system but is extendable to nonlinear and to general n-link ones.