A nonlinear high gain observer based input-output control of flexible link manipulator
A nonlinear high gain observer based input-output control of flexible link manipulator
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DOI：
10.1016/j.mechrescom.2012.06.004
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发表时间：
2012-10-01
影响因子：
2.4
通讯作者：
Sadigh, Mohammad Jafar
中科院分区：
文献类型：
--
作者：
Mosayebi, Masoud;Ghayour, Mostafa;Sadigh, Mohammad Jafar
输入输出控制策略需要所有的状态反馈。然而，在柔性连杆机器人操作器中，测量弹性自由度的时间速率实际上是不可能的。本文提出了一种新的非线性高增益观测器来估计弹性自由度及其时间导数。该控制策略是基于输出重定义的方法，稳定的机械手的零动态。最后，通过在单连杆柔性机械臂上实现所提出的观测器和控制器，给出了结果。数值模拟将支持我们的研究结果的有效性。(C)2012爱思唯尔有限公司保留所有权利。
The input-output control strategy needs all of the states feedback. However, in flexible link robot manipulators, measuring the time rate of elastic degrees of freedom is practically impossible. In this paper, a new nonlinear high gain observer has been developed to estimate the elastic degrees of freedom and their time derivatives. The control strategy is based on an output redefinition approach which stabilizes the zero dynamics of the manipulator. Finally, the results are presented by implementing the proposed observer and controller on a single link flexible manipulator. Numerical simulations will support the validity of our research results. (C) 2012 Elsevier Ltd. All rights reserved.