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Dynamic output feedback control of single-link flexible manipulators

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conference contribution
posted on 2001-01-01, 00:00 authored by Q 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

Event

Australian Conference on Robotics and Automation (2001 : Sydney, N.S.W.)

Pagination

7 - 12

Publisher

Australian Robotics and Automation Association

Location

Sydney, New South Wales

Place of publication

Sydney, N.S.W.

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

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