Please use this identifier to cite or link to this item:
https://knowledgecommons.lakeheadu.ca/handle/2453/1555
Title: | System identification and control of a flexible manipulator |
Authors: | Sun, Xiaodong |
Keywords: | Manipulators (Mechanism);Observers (Control theory);Robots Control systems |
Issue Date: | 2000 |
Abstract: | The Observabilty Range Space Extraction (ORSE) algorithm used to identify a an initially overparameterized discrete-time state-space model for a single-link flexible manipulator. A controller named PDPC is designed to control rigid body motion, have a zero tracking error and minimum vibration.--Abstract. The Observability Range Space Extraction (ORSE) algorithm is successfully applied to identify an initially overparameterized discrete-time state-space model for a single-link flexible manipulator. Several critical issues related to the experiments and the implementation of the ORSE algorithm are addressed. A new model reduction and updating technique is proposed and applied to reduce the identified models. To quantify the contribution of individual modes to the responses, a new measure referred to as modal response magnitude (MRM) is developed and successfully applied to obtain a lower-order model by retaining the most significant modes. To correct errors caused by the model reduction, either the reduced input or output matrix is recalculated by a least squares solution. Based on the updated reduced-order models, a controller named as PDPC is designed to ensure a good tracking accuracy and robustness to payload changes. The experimental results show that the PDPC control structure is effective in controlling rigid body motion to have a zero tracking error and the minimum vibration as well. |
URI: | http://knowledgecommons.lakeheadu.ca/handle/2453/1555 |
metadata.etd.degree.discipline: | Engineering |
metadata.etd.degree.name: | Master of Science |
metadata.etd.degree.level: | Master |
metadata.dc.contributor.advisor: | Liu, Kefu Natarajan, K. |
Appears in Collections: | Retrospective theses |
Files in This Item:
File | Description | Size | Format | |
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SunX2000m-1b.pdf | 12.61 MB | Adobe PDF | View/Open |
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