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Dynamic output feedback control of single-link flexible manipulators

Ha, Q., Trinh, Hieu, Zhu, J. and Nguyen, H. 2001, Dynamic output feedback control of single-link flexible manipulators, in ACRA 2001 : proceedings of the 2001 Australian Conference on Robotics and Automation, Sydney, 14-15 November 2001, Australian Robotics and Automation Association, Sydney, N.S.W., pp. 7-12.

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Title Dynamic output feedback control of single-link flexible manipulators
Author(s) Ha, Q.
Trinh, Hieu
Zhu, J.
Nguyen, H.
Conference name Australian Conference on Robotics and Automation (2001 : Sydney, N.S.W.)
Conference location Sydney, New South Wales
Conference dates 14-15 November 2001
Title of proceedings ACRA 2001 : proceedings of the 2001 Australian Conference on Robotics and Automation, Sydney, 14-15 November 2001
Editor(s) Rye, David
Furukawa, Tomonari
Publication date 2001
Conference series Australian Conference on Robotics and Automation
Start page 7
End page 12
Publisher Australian Robotics and Automation Association
Place of publication Sydney, N.S.W.
Summary This paper presents an efficient technique to design dynamic feedback control scheme for single-link flexible manipulators.  A linear model can be derived for the robotic system using the assumed-mode method.  Conventional techniques such as pole-placement or LQR require physical measurements of all systme states,  posing a stringent requirement for its implementation.  To overcome this problem, a low-order state functional observer is proposed here for reconstruction of the state feedback control action.  The observer design involves solving an optimisation problem with the objective to generate a feedback gain that is as close as possible to that of the required feedback controller.  A condition for robust stability of the closed-loop system under the observer-based control scheme is given.  The attractive features of the propsed technique are the resulted functional state observer is of a very low order and it requires only sensor measurements of only the output- the tip position of the arm.
Notes
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Language eng
Field of Research 099999 Engineering not elsewhere classified
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2001, Australian Robotics and Automation Association
Persistent URL http://hdl.handle.net/10536/DRO/DU:30009516

Document type: Conference Paper
Collections: School of Engineering and Technology
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