Estimation of Unknown Inputs and Control of a Single-link Flexible Manipulators Affected by Collision of Moving Obstacle Using an Unsented Unknown Input Filter

摘要

This paper deals with a problem of estimation and control for a single-link flexible manipulator with collision phenomenon due to a moving obstacle. In this paper, a robust unscented Kalman filter (RUKF) designed for the nonlinear state-space model corresponding to the mathematical model of the flexible manipulator is employed in order to isolate the effect of collision from the estimation error. Two sliding mode controllers with a torque compensator are used for stopping the motions of flexible arm and the colliding moving obstacle.