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

14 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
Original languageEnglish
Pages501-506
Number of pages6
DOIs
Publication statusPublished - Sep 2002
Event2002 IEEE lnternational Conference on Control Applications - Glasgow, United Kingdom
Duration: 18 Sep 200220 Sep 2002

Conference

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

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, 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