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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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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.