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Title of Journal: J Mech Sci Technol

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Abbravation: Journal of Mechanical Science and Technology

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Springer Netherlands

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Closed loop control of the planar flexible manipulator via Youla-Kucera parameterization

Authors: Habib Esfandiar, Saeed Daneshmand,

Publish Date: 2013/11/21
Volume: 27, Issue:11, Pages: 3243-3252
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This work treats the problem of controlling a flexible robotic manipulator. The case study is a planar manipulator with a single flexible arm together with a clamped-free end and a tip lumped mass. To control the angular position of the flexible arm using an actuator, a controller method is developed which is based on Youla-Kucera parameterization. The main challenge in this approach is to obtain a Youla parameter with infinity dimensions. This parameter is approximated by a subspace with finite dimensions which makes the problem tractable. The developed approach exhibit advanced theoretical properties and good numerical convergence. In this paper, two sets of orthogonal bases such as FIR and Laguerre bases are used for system identification. The results of the present case study indicate that the proposed method is very efficient and robust for the time-continuous instances. The characteristics of an optimization problem are finally formulated for larger systems with hundreds of variables and solved with the interior point method.



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Other Papers In This Journal:

  1. Review of the finite element models for a structural integrity evaluation of the sodium-cooled fast reactor high temperature piping
  2. Experimental and numerical assessment of the improvement of the load-carrying capacities of butterfly-shaped coupling components in composite structures
  3. Research on a new type of squirt gun for cleaning
  4. Closed loop control of the planar flexible manipulator via Youla-Kucera parameterization
  5. Optimal combination of design parameters for improving the kinematics characteristics of a midsize truck through design of experiment
  6. A numerical prediction on the reduction of microorganisms with UV disinfection
  7. Effects of microstructure on material properties of modified 9Cr-1Mo steel subject to creep-fatigue
  8. In-pipe micromachine locomotion via the inertial stepping principle
  9. Optimal disc cutters plane layout design of the full-face rock tunnel boring machine (tbm) based on a multi-objective genetic algorithm
  10. Model reduction of a multibody system including a very flexible beam element
  11. Examination and modification of equivalent delamination factor for assessment of high speed drilling
  12. Prediction of cutting force
  13. Prediction of cutting force
  14. Nonlocal beam models for buckling of nanobeams using state-space method regarding different boundary conditions
  15. Effect of leading edge boundary layer thickness on dimple flow structure and separation control
  16. Flow instability due to cryogenic cavitation in the downstream of orifice
  17. A study on the microstructural property and thermal property of Ti-alloys without Al as biomaterials
  18. The development of a quality prediction system for aluminum laser welding to measure plasma intensity using photodiodes
  19. Explicit formulation for natural frequencies of double-beam system with arbitrary boundary conditions
  20. Induced nonlocal electric wave propagation of boron nitride nanotubes
  21. Stochastic analysis of a collection process of submicron particles on a single fiber accounting for the changes in flow field due to particle collection
  22. Comparison of different power generators in PV-battery-power generator hybrid system
  23. Welding residual stress analysis of 347H austenitic stainless steel boiler tubes using experimental and numerical approaches
  24. Optimal design of spaced plates under hypervelocity impact
  25. Experimental study on ECM with a grid cathode composed of circular cells
  26. Application of grey model for machine degradation prognostics
  27. Methodology for corrosion evaluation in HAZ of 11%-Cr ferritic stainless steel
  28. Thermodynamic second law analysis for a gravity-driven variable viscosity liquid film along an inclined heated plate with convective cooling
  29. Determination of the flow stress and thermal properties of ceramic powder feedstock in ceramic injection molding
  30. Surface durability of powder-forged roller treated by shot peening
  31. Effects of gas and particle emissions on wall radiative heat flux in oxy-fuel combustion

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