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https://knowledgecommons.lakeheadu.ca/handle/2453/1555
Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Liu, Kefu | - |
dc.contributor.advisor | Natarajan, K. | - |
dc.contributor.author | Sun, Xiaodong | - |
dc.date.accessioned | 2017-06-05T19:14:30Z | - |
dc.date.available | 2017-06-05T19:14:30Z | - |
dc.date.created | 2000 | - |
dc.date.issued | 2000 | - |
dc.identifier.uri | http://knowledgecommons.lakeheadu.ca/handle/2453/1555 | - |
dc.description.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. | - |
dc.description.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. | - |
dc.language.iso | en_US | - |
dc.subject | Manipulators (Mechanism) | - |
dc.subject | Observers (Control theory) | - |
dc.subject | Robots Control systems | - |
dc.title | System identification and control of a flexible manipulator | - |
dc.type | Thesis | - |
etd.degree.name | Master of Science | - |
etd.degree.level | Master | - |
etd.degree.discipline | Engineering | - |
etd.degree.grantor | Lakehead University | - |
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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