Robust Output Feedback Control of Single-Link Flexible-Joint Robot Manipulator with Matched Disturbances Using High Gain Observer

LQR Robust Control of a Flexible Link Robot Manipulator

This paper presents investigations into the development of linear quadratic regulator (LQR) robust control of a flexible link manipulator. The dynamic model of the system is developed using a finite element methods (FEM). The problems of a flexible link manipulator are uncertainties and parametric nonlinearities. Previous researches have fathom around control methods for the system, few present...

Robust Tracking Control of a Single-link Flexible Manipulator

Quantitative Feedback Theory (QFT) is employed to achieve time domain specifications on the tip position of a hybrid actuated single-link flexible manipulator. The manipulator payload conditions are varied to assess the robustness of the synthesised control system to parametric uncertainty. A combination of QFT multi input multi output (MIMO) design methods 1 (nonsequential) and 2 (sequential) ...

Output feedback adaptive control of robot manipulators using observer backstepping

Boundary Feedback Stabilization of a Nonlinear Flexible Gantry Manipulator Using Disturbance Observer

This paper aims to develop a boundary control solution for a single-link gantry robot manipulator with one axis of rotation. The control procedure is considered with link’s transverse vibrations while system undergoes rigid body nonlinear large rotation and translation. Initially, based on Hamilton principle, governing equations of hybrid motions as a set of partial differential equations...

QFT Control of a Two-Link Rigid-Flexible Manipulator

This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...