Vibration Control of Flexible Link Manipulator Using SDRE Controller and Kalman Filtering
نویسندگان
چکیده
منابع مشابه
Active Vibration Control of a Flexible Manipulator Using Model Predictive Control and Kalman Optimal Filtering
This article presents an application of the multivariable Model-based Predictive Controller associated to a Kalman filter to damp the mechanical vibrations of a flexible one-link manipulator using state variables feedback. The flexible manipulator, seen as a single input multiple outputs system is modelled using the Lagrange equations. The state space equations are expressed in order to simplif...
متن کاملVibration Based Control for Flexible Link Manipulator
Robotic manipulators are widely used to help in dangerous, monotonous, and tedious jobs. Most of the existing robotic manipulators are designed and built in a manner to maximize stiffness in an attempt to minimize the vibration of the end-effectors. This high stiffness is achieved by using heavy material and bulky design. Hence, the existing heavy rigid manipulators are shown to be inefficient ...
متن کاملVibration Control of a Flexible Link Manipulator Using Smart Structures
The active vibration suppression of a flexible link manipulator using a smart structure (piezoelectric actuator) is investigated. For this purpose, a Finite Element (FE) model is developed for the modal and transient analysis of a cantilever beam and a flexible link manipulator. The novelty of this work is in the development of an accurate finite element model of a piezoelectric and beam/manipu...
متن کاملQFT 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...
متن کاملqft 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...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Studies in Informatics and Control
سال: 2017
ISSN: 1220-1766,1841-429X
DOI: 10.24846/v26i2y201702