Picture of wind turbine against blue sky

Open Access research with a real impact...

The Strathprints institutional repository is a digital archive of University of Strathclyde research outputs.

The Energy Systems Research Unit (ESRU) within Strathclyde's Department of Mechanical and Aerospace Engineering is producing Open Access research that can help society deploy and optimise renewable energy systems, such as wind turbine technology.

Explore wind turbine research in Strathprints

Explore all of Strathclyde's Open Access research content

End-point control of a flexible-link manipulator using H, nonlinear control via a state-dependent Riccati equation

Shawky, A. and Ordys, A.W. and Grimble, M.J. (2002) End-point control of a flexible-link manipulator using H, nonlinear control via a state-dependent Riccati equation. In: 2002 IEEE lnternational Conference on Control Applications, 2002-09-18 - 2002-09-20.

Full text not available in this repository. (Request a copy from the Strathclyde author)

Abstract

The problem of modeling and controlling the tip position of a single-link flexible manipulator is considered. In a flexible-link manipulator in general the effect of some parameters such as payload, fiction amplitude and damping coefficients can not be exactly measured, One possibility is to consider these parameters including uncertainty. Recent results may then be applied on nonlinear robust regulators using a nonlinear H, via state Dependent Ricatti Equation (SDRE) design method. Lagrangian mechanics and the assumed mode method have been used to derive a proposed dynamic model of a single-link flexible manipulator having a control joint. The full state feedback nonlinear H, SDRE control law is derived to minimize a quadratic cost function that penalizes the states and the control input torques. Simulation results are presented for a single-link flexible manipulator to achieve the desired angular rotation of the link whilst simultaneously suppressing structural vibrations. The effect of payload on the system response and vibration frequencies is also investigated. he results are illustrated by a numerical example