Title :
Comparison of Pole Placement and LQR Applied to Single Link Flexible Manipulator
Author :
Saini, Subhash Chandra ; Sharma, Yagvalkya ; Bhandari, Manisha ; Satija, Udit
Abstract :
This work presents a comparative study of two different control strategies for a flexible single-link manipulator. The dynamic model of the flexible manipulator involves modeling the rotational base and the flexible link as rigid bodies using the Euler Lagrange´s method. The resulting system has one Degree-Of-Freedom (one DOF) and it provide freedom to increase the degree as well. Two types of regulators are studied, the State-Regulator using Pole Placement, and the Linear-Quadratic regulator (LQR). The LQR is obtained by resolving the Ricatti equation, in this work, we apply and compare two strategies to control the tip of the flexible link: state-feedback and linear quadratic regulator. These regulators are designed to reduce tip vibrations and increase system stability due to the flexibility of the arm.
Keywords :
Riccati equations; controllers; flexible manipulators; linear quadratic control; manipulator dynamics; poles and zeros; stability; state feedback; Euler Lagrange method; LQR; Ricatti equation; arm flexibility; linear-quadratic regulator; pole placement; single link flexible manipulator; state feedback; state regulator; system stability; tip vibration reduction; Eigenvalues and eigenfunctions; Joints; Manipulators; Mathematical model; Regulators; Servomotors; Euler Lagrange´s method; LQR-Linear Quadratic Regulator; Pole Placement; Ricatti equation; SLFM-Single Link Flexible Manipulator;
Conference_Titel :
Communication Systems and Network Technologies (CSNT), 2012 International Conference on
Conference_Location :
Rajkot
Print_ISBN :
978-1-4673-1538-8
DOI :
10.1109/CSNT.2012.183
