this work presents a comparative study of two different control strategies for a flexible single-link manipulator. The dynamic model of the flexible manipulator involves modeling the rotational base and the flexible link as rigid bodies using the Euler Lagrange's method. The resulting system has one Degree-Of-Freedom (one DOF) and it provide freedom to increase the degree as well. Two types of regulators are studied, the State-Regulator using Pole Placement, and the Linear-Quadratic regulator (LQR). The LQR is obtained by resolving the Ricatti equation, in this work, we apply and compare two strategies to control the tip of the flexible link: state-feedback and linear quadratic regulator. These regulators are designed to reduce tip vibrations and increase system stability due to the flexibility of the arm.
展开▼
