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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, Glasgow.

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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

Item type: Conference or Workshop Item (Paper)
ID code: 38613
Keywords: damping, vibrations , torque control , robustness, regulators, payloads, nonlinear equations, manipulator dynamics , friction, design methodology , end-point control, flexible-link, manipulator, nonlinear control, state-dependent , riccati equation, Electrical engineering. Electronics Nuclear engineering
Subjects: Technology > Electrical engineering. Electronics Nuclear engineering
Department: Faculty of Engineering > Electronic and Electrical Engineering
Related URLs:
    Depositing user: Pure Administrator
    Date Deposited: 21 Mar 2012 14:19
    Last modified: 27 Oct 2014 11:44
    URI: http://strathprints.strath.ac.uk/id/eprint/38613

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