Reconstruction and Robust Reduced-Order Observation of Flexible Variables
Hastings, Gordon Greene
Book, Wayne John
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Most models intended for real-time control of distributed parameter systems such as flexible manipulators rely on N-modal approximation schemes[l]. Measurements made on flexible systems yield time varying quantities which are linear combinations of the system states. This paper discusses reconstruction and estimation of flexible variables from multiple strain measurements for use in state feedback control of flexible manipulators. Reconstruction is proposed for obtaining flexible mode amplitudes from the measurements, and estimation for the modal velocities. Reduced order observers are briefly reviewed, and then application to flexible manipulators is discussed. Design of the observer for estimation of the velocities is discussed with regard to robust implementation. The performance of the observer is examined experimentally for several specifications of the error dynamics.