Abstract
| Language | English |
|---|---|
| Pages | 501-506 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - Sep 2002 |
| Event | 2002 IEEE lnternational Conference on Control Applications - Glasgow, United Kingdom Duration: 18 Sep 2002 → 20 Sep 2002 |
Conference
| Conference | 2002 IEEE lnternational Conference on Control Applications |
|---|---|
| Country | United Kingdom |
| City | Glasgow |
| Period | 18/09/02 → 20/09/02 |
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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
Cite this
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End-point control of a flexible-link manipulator using H, nonlinear control via a state-dependent Riccati equation. / Shawky, A.; Ordys, A.W.; Grimble, M.J.
2002. 501-506 Paper presented at 2002 IEEE lnternational Conference on Control Applications, Glasgow, United Kingdom.Research output: Contribution to conference › Paper
TY - CONF
T1 - End-point control of a flexible-link manipulator using H, nonlinear control via a state-dependent Riccati equation
AU - Shawky, A.
AU - Ordys, A.W.
AU - Grimble, M.J.
PY - 2002/9
Y1 - 2002/9
N2 - 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
AB - 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
KW - damping
KW - vibrations
KW - torque control
KW - robustness
KW - regulators
KW - payloads
KW - nonlinear equations
KW - manipulator dynamics
KW - friction
KW - design methodology
KW - end-point control
KW - flexible-link
KW - manipulator
KW - nonlinear control
KW - state-dependent
KW - riccati equation
U2 - 10.1109/CCA.2002.1040236
DO - 10.1109/CCA.2002.1040236
M3 - Paper
SP - 501
EP - 506
ER -