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

A. Shawky, A.W. Ordys, M.J. Grimble

Research output: Contribution to conferencePaper

13 Citations (Scopus)

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

Conference

Conference2002 IEEE lnternational Conference on Control Applications
CountryUnited Kingdom
CityGlasgow
Period18/09/0220/09/02

Fingerprint

Flexible manipulators
Riccati equations
Manipulators
State feedback
Cost functions
Dynamic models
Mechanics
Torque
Damping

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

Shawky, A., Ordys, A. W., & Grimble, M. J. (2002). End-point control of a flexible-link manipulator using H, nonlinear control via a state-dependent Riccati equation. 501-506. Paper presented at 2002 IEEE lnternational Conference on Control Applications, Glasgow, United Kingdom. https://doi.org/10.1109/CCA.2002.1040236
Shawky, A. ; Ordys, A.W. ; Grimble, M.J. / End-point control of a flexible-link manipulator using H, nonlinear control via a state-dependent Riccati equation. Paper presented at 2002 IEEE lnternational Conference on Control Applications, Glasgow, United Kingdom.6 p.
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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",
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",
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Shawky, A, Ordys, AW & Grimble, MJ 2002, 'End-point control of a flexible-link manipulator using H, nonlinear control via a state-dependent Riccati equation' Paper presented at 2002 IEEE lnternational Conference on Control Applications, Glasgow, United Kingdom, 18/09/02 - 20/09/02, pp. 501-506. https://doi.org/10.1109/CCA.2002.1040236

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 conferencePaper

TY - CONF

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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

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Shawky A, Ordys AW, Grimble MJ. End-point control of a flexible-link manipulator using H, nonlinear control via a state-dependent Riccati equation. 2002. Paper presented at 2002 IEEE lnternational Conference on Control Applications, Glasgow, United Kingdom. https://doi.org/10.1109/CCA.2002.1040236