Please use this identifier to cite or link to this item: https://knowledgecommons.lakeheadu.ca/handle/2453/1555
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dc.contributor.advisorLiu, Kefu-
dc.contributor.advisorNatarajan, K.-
dc.contributor.authorSun, Xiaodong-
dc.date.accessioned2017-06-05T19:14:30Z-
dc.date.available2017-06-05T19:14:30Z-
dc.date.created2000-
dc.date.issued2000-
dc.identifier.urihttp://knowledgecommons.lakeheadu.ca/handle/2453/1555-
dc.description.abstractThe 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.-
dc.description.abstractThe 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.-
dc.language.isoen_US-
dc.subjectManipulators (Mechanism)-
dc.subjectObservers (Control theory)-
dc.subjectRobots Control systems-
dc.titleSystem identification and control of a flexible manipulator-
dc.typeThesis-
etd.degree.nameMaster of Science-
etd.degree.levelMaster-
etd.degree.disciplineEngineering-
etd.degree.grantorLakehead University-
Appears in Collections:Retrospective theses

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