Shock and Vibration

Shock and Vibration / 2013 / Article
Special Issue

Nonlinear Vibrations in Elastic Structures: Dynamics and Control

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Open Access

Volume 20 |Article ID 681846 | 15 pages | https://doi.org/10.3233/SAV-130778

The Rigid-Flexible Robotic Manipulator: Nonlinear Control and State Estimation Considering a Different Mathematical Model for Estimation

Received07 Nov 2013
Accepted07 Nov 2013

Abstract

In this paper the author investigates the angular position and vibration control of a nonlinear rigid-flexible two link robotic manipulator considering fast angular maneuvers. The nonlinear control technique named State-Dependent Riccati Equation (SDRE) is used here to achieve these aims. In a more realistic approach, it is considered that some states can be measured and some states cannot be measured. The states not measured are estimated in order to be used for the SDRE control. These states are all the angular velocities and the velocity of deformation of the flexible link. A SDRE-based estimator is used here. Not only different initial conditions between the system to be controlled (here named "real" system) and the estimator but also a different mathematical model is considered as the estimation model in order to verify the limitations of the proposed state estimation and control techniques. The mathematical model that emulates the real system to be controlled considers two modes expansion and the estimation model considers only one mode expansion. The results for the different approaches are compared and discussed.

Copyright © 2013 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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