Title :
State-feedback and Linear Quadratic regulator applied to a single-link flexible manipulator
Author :
Baroudi, Mariam ; Saad, Mohamad ; Ghie, Walid
Author_Institution :
Univ. du Quebec en Abitibi-Temiscamingue, Rouyn-Noranda, QC, Canada
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 the Lagrange´s method. The resulting system has one 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; manipulator dynamics; pole assignment; state feedback; Lagrange´s method; MATLAB (7.5.0); Riccati equation; SIMULINK (V7.0); control strategy; flexible beam Quanser module; flexible single-link robotic manipulator; linear quadratic regulator; poles placement; rigid body; rotational base; single-link flexible manipulator; state-feedback controller; Control systems; DC motors; MATLAB; Manipulator dynamics; Mathematical model; Optimal control; Regulators; Riccati equations; Robots; Servomotors; Linear-Quadratic Regulator (LQR); Single-link flexible manipulator; State-Feedback Controller;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420822
