Near-minimum-time control of a flexible robot arm via linear programming

A. Sinha, H. Peng

Research output: Contribution to conferencePaperpeer-review

4 Scopus citations


In this paper, the linear programming (LP) technique is used as a new approach to compute the feedforward function to drive a single-link flexible arm from a specified initial position to a desired final position. This not only achieves near-minimum-time performance in terms of both moving time for the rigid mode and settling time for the controlled vibratory modes but also limits the vibration to an acceptable level. The one-link flexible arm is modeled as a continuous pinned-free beam, which is driven by a DC motor. For a given set of parameters, the results from numerical simulations are presented. The performance of the control system developed on the basis of the LP approach with only an input constraint has been found to be comparable to that of the bang-bang control.

Original languageEnglish (US)
Number of pages9
StatePublished - Dec 1 1989
EventStructural Vibration and Acoustics - Montreal, Que, Can
Duration: Sep 17 1989Sep 21 1989


OtherStructural Vibration and Acoustics
CityMontreal, Que, Can

All Science Journal Classification (ASJC) codes

  • General Engineering


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