Optimal control and sensitivity analysis of two links flexible armwith three degrees of freedom

摘要

The modeling and control method for a flexible robotic arm withnthree degrees of freedom is described. Under the assumption that thenlinks vibrate both transversely and torsionally, the dynamics of thenthree degrees of freedom flexible robotic arm is derived. To estimatenthe state of the system, an observer is employed. The control algorithmnis designed by using optimal control theory based on the quadraticnperformance index approach. This control method is shown to suppress thencoupled vibrations. Sensitivity analysis is carried out when there arensome inaccuracies in the payload's weight or the link's length. The waynto find the stable domain of these parameters is presented, and somensimulation results are provided