Design of robust controllers and a nonlinear observer for the control of a single-link flexible robotic manipulator

2006 ◽  
Vol 291 (1-2) ◽  
pp. 437-461 ◽  
Author(s):  
N.G. Chalhoub ◽  
G.A. Kfoury ◽  
B.A. Bazzi
Keyword(s):  
Robotic Manipulator ◽  
Nonlinear Observer ◽  
Robust Controllers ◽  
Single Link ◽  
Flexible Robotic Manipulator

Development of a Robust Controller and Observer for the Control of a Single-Link Flexible Robotic Manipulator

2005 ◽  
Author(s):  
N. G. Chalhoub ◽  
G. A. Kfoury ◽  
B. A. Bazzi
Keyword(s):  
Sliding Mode ◽  
Angular Displacement ◽  
Robotic Manipulator ◽  
The State ◽  
Nonlinear Observer ◽  
State Variables ◽  
Elastic Mode ◽  
Single Link ◽  
Elastic Modes ◽  
Flexible Robotic Manipulator

A fuzzy-sliding mode controller (FSMC) has been developed in this study to control the rigid and flexible motions of a single-link robotic manipulator. Only the angular displacement at the base joint of the beam is assumed to be measured. Therefore, a robust nonlinear observer has been designed, based on the sliding mode methodology, to accurately estimate the state variables in the presence of both structured and unstructured uncertainties. Both the controller and the observer account for the first elastic mode of the beam in their design. The dynamic model, used in assessing the performance of the closed-loop system, considers the first two elastic modes of the beam. The second elastic mode is included in order to investigate the effects of the higher order dynamics on the overall performance of the system. The digital simulations demonstrate the capability of the observer in yielding accurate estimates of the state variables in the presence of modeling inaccuracies. Furthermore, they serve to prove the viability of using the observer to provide on-line estimates of the state variables for the computation of the control signals. The simulation results illustrate robust performances of the controller and the observer in controlling the rigid and flexible motions of the single-link robot in the presence of both structured and unstructured uncertainties.

scholarly journals Vibration Control Based on Reinforcement Learning for a Single-link Flexible Robotic Manipulator

2017 ◽  
Vol 50 (1) ◽  
pp. 3476-3481 ◽  
Author(s):  
Yuncheng Ouyang ◽  
Wei He ◽  
Xiajing Li ◽  
Jin-Kun Liu ◽  
Guang Li
Keyword(s):  
Reinforcement Learning ◽  
Vibration Control ◽  
Robotic Manipulator ◽  
Single Link ◽  
Flexible Robotic Manipulator

scholarly journals Distributed Mode-Dependent Event-Triggered Passive Filtering for Flexible Manipulator with Semi-Markov Parameters

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2058
Author(s):  
Yidao Ji ◽  
Suiwu Zheng
Keyword(s):  
Sensor Networks ◽  
Sufficient Conditions ◽  
Robotic Manipulator ◽  
Flexible Manipulator ◽  
System Perspective ◽  
Event Triggering ◽  
Single Link ◽  
Flexible Robotic Manipulator ◽  
Distributed Filter ◽  
Filtering Problem

In this paper, the passive filtering problem of flexible robotic manipulator is investigated over sensor networks in a distributed manner from the control system perspective. The sensor networks are adopted to estimate true states of flexible robotic manipulator. In particular, the semi-Markov model is utilized for flexible manipulators with varying loads in unstructured environment, which is more flexible for practical implementations. Moreover, the new mode-dependent event-triggering mechanism is developed for distributed filter communications. Based on model transformation, sufficient conditions are first established to guarantee prescribed passive performance under disturbances. Then, desired mode-dependent filters are developed with the aid of convex optimization. In the end, several simulations results of a single-link flexible robotic manipulator are provided to verify the usefulness of the developed filtering algorithm.

Sign in / Sign up

Export Citation Format

Share Document