Vibration Control of Flexible Link Manipulator Using SDRE Controller and Kalman Filtering

摘要

The problem of estimating the flexural states while applying State-Dependent Riccati Equation (SDRE) technique to flexible link manipulator (FLM) is the focus of this paper. The proposed method investigates the effect of employing Kalman Filter as state estimator in the case of the deterministically modelled FLM. The dynamic model of the FLM is derived through combined Euler Lagrangian-Assumed modes approach based on two significant modes, resulting in a nonlinear model with six states. The information of states being crucial to the imple mentation of SDRE controller, the state estimator based on Kalman filter designed in this paper, minimizes the effect of noises that may corrupt the state measurements. Simulation results reveal the effectiveness of Kalman filter based SDRE controller for accurate positioning and vibration suppression of the FLM.