A methodology for the formulation of dynamic equations of motion of a serial flexible-link manipulator using the decoupled natural orthogonal complement (DeNOC) matrices, introduced elsewhere for rigid bodies, is presented in this paper. First, the Euler Lagrange (EL) equations of motion of the system are written. Then using the equivalence of EL and Newton–Euler (NE) equations, and the DeNOC m...

the problem of observer design for nonlinear systems has got great attention in the recent literature. the nonlinear observer has been a topic of interest in control theory. in this research, a modified robust sliding-mode observer (smo) is designed to accurately estimate the state variables of nonlinear systems in the presence of disturbances and model uncertainties. the observer has a simple ...

This paper presents the dynamic model of a flexible-link, flexible-joint manipulator system with considerable stiffening effect flexible link. A gripper, along tip mass, is attached at one end By employing extended Hamilton’s principle, nonlinear governing equation motion derived several boundary constraints. Under assumption small deformation in free vibration, simplified deduced to determine ...

Part I of this two-part paper treats Tropical Rainfall Measuring Mission (TRMM) radar, passive microwave, and lightning observations in hurricanes individually. This paper (Part II) examines relationships between these parameters (and implications of the relationships). Quantitative relationships between lightning occurrence and 85-GHz brightness temperature, 37-GHz brightness temperature, and ...

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...

In this paper, a mathematical model of flexible single link robotic manipulator that has a rotational base and translational motion has been developed using lagrangian method. The control strategies like PID, LQR and State feedback controller have been implemented for controlling the tip position of flexible single link robotic manipulators through MATLAB. State feedback controller uses pole pl...