NDLI: Optimal control of a single link flexible manipulator

Content Provider	IEEE Xplore Digital Library
Author	Pal, S. Stephanou, H.E. Cook, G.
Copyright Year	1988
Description	Author affiliation: Dept. of Electr. & Comput. Eng., George Mason Univ., Fairfax, VA, USA (Pal, S.; Stephanou, H.E.; Cook, G.)
Abstract	An exact state-space dynamic model for manipulator with flexible links is considered. The Bernoulli-Euler beam equations are used to derive a frequency domain matrix transfer function. This transfer function is then used to computer the Laplace transform of the state vector as a function of lateral position along a single link manipulator. The problem of optimal end-point control of the beam is addressed. A sixth-order state-space model is derived for the manipulator and the controller is based on this model. Several control laws are studied for this model. The manipulator is modeled as eighth-order, but the control law based on the sixth-order model is retained. The six states are estimated from the output of the eighth-order model. These states are fed back to the controller to derive the control torque used to drive the manipulator. A filter is introduced to compensate for spillover. The results are satisfactory, and are illustrated by simulated case studies.
Starting Page	171
Ending Page	175
File Size	274920
Page Count	5
File Format	PDF
ISBN	0818608528
DOI	10.1109/ROBOT.1988.12043
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-04-24
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optimal control Position measurement Pollution measurement Feedback control Frequency Laplace equations Books Control systems Vibration control Phase locked loops
Content Type	Text
Resource Type	Article

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