Modeling and control of a micro manipulator using controlled Lagrangian method

What is it about?

In this paper dynamical model and the governing equations of motion of a micro-cantilever beam with rotating joint as an application of under-actuated systems will be developed. Then, a controlled Lagrangian method as a robust procedure for controller design is employed to achieve an acceptable tracking on the hinge’s angle of rotation of a micro-cantilever beam while undesirable vibration of the under-actuated flexible variable is damped.

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