Advanced Control of Flexible Manipulators

摘要

The document describes the development of a state-space model for a two-link (member) flexible manipulator arm and demonstrates the feasibility of applying state-of-the-art control techniques to achieve accurate positional control of the system. A mathematical model of the manipulator is shown to adequately represent the system. Eigenvalue and time domain simulation analyses of the system are performed to study the open-loop dynamic characteristics of the system. Also, modern control techniques are employed to design control for the system and the performance of the closed loop system is analyzed. Results reveal that effective vibration and positional control of the manipulator can be achieved.