A robust nonlinear observation strategy for the control of flexible manipulators

Brian K. Post; Wayne J. Book

doi:10.1109/ICRA.2011.5980356

A robust nonlinear observation strategy for the control of flexible manipulators

Brian K. Post, Wayne J. Book

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

Flexibility is often an unavoidable consequence of the desire for high speed and performance manipulators. This paper proposes a method that improves the performance of flexible manipulators through the employment of robust state estimation techniques. These techniques are based on discrete time Kalman filtering and sliding mode principles. A simple model for a single degree of freedom flexible manipulator is derived and a control scheme is chosen and implemented. The latter includes a robust non-linear estimator. Simulation and preliminary experimental results are presented that demonstrate the validity of the proposed control scheme.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	2166-2171
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2011.5980356
State	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: May 9 2011 → May 13 2011

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	05/9/11 → 05/13/11

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10.1109/ICRA.2011.5980356

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title = "A robust nonlinear observation strategy for the control of flexible manipulators",

abstract = "Flexibility is often an unavoidable consequence of the desire for high speed and performance manipulators. This paper proposes a method that improves the performance of flexible manipulators through the employment of robust state estimation techniques. These techniques are based on discrete time Kalman filtering and sliding mode principles. A simple model for a single degree of freedom flexible manipulator is derived and a control scheme is chosen and implemented. The latter includes a robust non-linear estimator. Simulation and preliminary experimental results are presented that demonstrate the validity of the proposed control scheme.",

author = "Post, {Brian K.} and Book, {Wayne J.}",

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doi = "10.1109/ICRA.2011.5980356",

language = "English",

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series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "2166--2171",

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note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",

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Post, BK & Book, WJ 2011, A robust nonlinear observation strategy for the control of flexible manipulators. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5980356, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2166-2171, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 05/9/11. https://doi.org/10.1109/ICRA.2011.5980356

A robust nonlinear observation strategy for the control of flexible manipulators. / Post, Brian K.; Book, Wayne J.
2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 2166-2171 5980356 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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A robust nonlinear observation strategy for the control of flexible manipulators

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