posted on 2001-01-01, 00:00authored byQ Ha, Hieu TrinhHieu Trinh, J Zhu, H Nguyen
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.
History
Pagination
7 - 12
Location
Sydney, New South Wales
Open access
Yes
Start date
2001-11-14
End date
2001-11-15
Language
eng
Notes
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Publication classification
E1 Full written paper - refereed
Copyright notice
2001, Australian Robotics and Automation Association
Editor/Contributor(s)
D Rye, T Furukawa
Title of proceedings
ACRA 2001 : proceedings of the 2001 Australian Conference on Robotics and Automation, Sydney, 14-15 November 2001