Abstract:
This paper presents an efficient technique to
design dynamic feedback control scheme for
single-link flexible manipulators, A linear model
can be derived for the robotic system using the
assumed-mode method, Conventional techniques
such as pole-placement or LQR require physical
measurements of all system states, posing a
stringent requirement for its implementation. To
overcome this problem, a low-order state
functional observer is proposed here for
reconstruction of the state feedback control
action. The observer design involves solving an
optimisation problem with the objective to
generate a feedback gain that is as close as
possible to that of the required feedback
controller. A condition for robust stability of the
closed-loop system under the observer-based
control scheme is given. The attractive features
of the proposed technique are that the resulted
functional state observer is of a very low order
and it requires only sensor measurements of only
the output- the tip position of the arm.
