Position Control of Flexible Manipulator Using Nonlinear H∞ with State-Dependent Riccati Equation | ||||
The International Conference on Electrical Engineering | ||||
Article 62, Volume 5, 5th International Conference on Electrical Engineering ICEENG 2006, May 2006, Page 1-10 PDF (312.26 K) | ||||
Document Type: Original Article | ||||
DOI: 10.21608/iceeng.2006.33662 | ||||
View on SCiNiTO | ||||
Authors | ||||
A. SHAWKY1; A. ORDYS2; M. J. GRIMBLE3 | ||||
1Egyptian Armed Forces. | ||||
2British Energy Senior Lecturer in Control Systems, Industrial Control Centre, Dept of Electronic and Electrical Engineering, University of Strathclyde, 50 George Street, Glasgow, G1 1QE,Scotland, U.K. | ||||
3Professor of Industrial Systems and Director, Industrial Control Centre, Dept of Electronic and Electrical Engineering, University of Strathclyde, 50 George Street, Glasgow, G1 1QE,Scotland,UK. | ||||
Abstract | ||||
Abstract The paper is concerned with the control of the tip position of a single-link flexible manipulator. The non-linear model of the manipulator is derived and tested, assuming the number of model shape functions is two. It is known that the Assumed Modes Method introduces uncertainty to the model by neglecting higher order dynamics. There are other sources of uncertainty, such as friction. In addition, the model is non-linear. Therefore, for the next task, which is the controller design, the H∞ approach is proposed to deal efficiently with uncertainties, and the non-linear nature of the problem is addressed by the use of State Dependent Riccati Equation (SDRE) technique. Following the SDRE approach, the state-feedback non-linear control law is derived which minimizes a quadratic cost function. This solution is then mapped into the H∞ optimization problem. The resulting control law has been tested with the simulation model of the flexible manipulator and the results are discussed in the paper. | ||||
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