system identification and control of a flexible manipulator
abstract
the observabilty range space extraction (orse) algorithm used to identify a an initially overparameterized discrete-time state-space model for a single-link flexible manipulator. a controller named pdpc is designed to control rigid body motion, have a zero tracking error and minimum vibration.--abstract. the observability range space extraction (orse) algorithm is successfully
applied to identify an initially overparameterized discrete-time state-space model for
a single-link flexible manipulator. several critical issues related to the experiments
and the implementation of the orse algorithm are addressed.
a new model reduction and updating technique is proposed and applied to reduce
the identified models. to quantify the contribution of individual modes to the
responses, a new measure referred to as modal response magnitude (mrm) is
developed and successfully applied to obtain a lower-order model by retaining the
most significant modes. to correct errors caused by the model reduction, either the
reduced input or output matrix is recalculated by a least squares solution.
based on the updated reduced-order models, a controller named as pdpc is
designed to ensure a good tracking accuracy and robustness to payload changes. the
experimental results show that the pdpc control structure is effective in controlling
rigid body motion to have a zero tracking error and the minimum vibration as well.
collections
- retrospective theses [1604]