Vibration controllability and observability of a single-link flexible manipulator

Author

Baroudi, M. ; Saad, M. ; Ghie, W. ; Kaddouri, A. ; Ziade, H.

Author_Institution

Univ. du Quebec en Abitibi-Temiscamingue, QC, Canada

fYear

2010

fDate

27-30 June 2010

Firstpage

1

Lastpage

6

Abstract

This work presents a comparative study of two different control strategies for a flexible single-link robotic manipulator. The dynamic model of the flexible manipulator involves modeling the rotational base and the flexible link as rigid bodies using Lagrange´s method. The resulting system has one rigid Degree-Of-Freedom (1 DOF). Two types of regulators are studied and discussed: the State-Feedback controller, and the Linear-Quadratic regulator (LQR). While the latter is obtained by resolving the Riccati equation, the state-feedback consists on poles placement. A simulation is performed on MATLAB (7.5.0)/SIMULINK (V7.0)^®, and later on, experiments were achieved on the flexible beam Quanser module. Experimental results are presented and compared at the end of this paper.

Keywords

Riccati equations; flexible manipulators; linear quadratic control; mathematics computing; observability; pole assignment; state feedback; vibration control; Lagrange method; MATLAB (7.5.0); Riccati equation; SIMULINK (V7.0)®; flexible beam Quanser; linear quadratic regulator; poles placement; single link robotic flexible manipulator; state feedback controller; vibration controllability; vibration observability; Flexible Link Manipulator; Linear-Quadratic Regulator; State-Feedback Controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems Signals and Devices (SSD), 2010 7th International Multi-Conference on

Conference_Location

Amman

Print_ISBN

978-1-4244-7532-2

Type

conf

DOI

10.1109/SSD.2010.5585564

Filename

5585564