State-Feedback and Linear Quadratic Regulator Applied to a Single-Link Flexible Manipulator

摘要：

This work presents a comparative study of two different control strategies for a flexible single-link robotic manipulator. The dynamic model of the flexible manipulator involves modeling the rotational base and the flexible link as rigid bodies using the Lagranges method. The resulting system has one Degree-Of-Freedom (1 DOF). Two types of regulators are studied and discussed: the State-Feedback controller, and the Linear-Quadratic regulator (LQR). While the latter is obtained by resolving the Riccati equation, the state-feedback consists on poles placement. A simulation is performed on MATLAB (7.5.0)/SIMULINK (V7.0)(R) and later on, experiments were achieved on the flexible beam Quanser module. Experimental results are presented and compared at the end of this paper.

关键词： Single-link flexible manipulator State-Feedback Controller Linear-Quadratic Regulator (LQR)

作者: Mariam Baroudi Mohamad Saad Walid Ghie

作者单位: Université du Québec en Abitibi-Témiscamingue,Rouyn-Noranda,QC,J9X 5E4,Canada Electromechanical Department,at Université du Québec en Abitibi-Témiscamingue,Rouyn-Noranda,QC,J9X 5

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1381-1386

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）