| dc.contributor.advisor | liu, kefu | |
| dc.contributor.advisor | natarajan, k. | |
| dc.contributor.author | sun, xiaodong | |
| dc.date.accessioned | 2017-06-05t19:14:30z | |
| dc.date.available | 2017-06-05t19:14:30z | |
| dc.date.created | 2000 | |
| dc.date.issued | 2000 | |
| dc.identifier.uri | http://knowledgecommons.lakeheadu.ca/handle/2453/1555 | |
| dc.description.abstract | the observabilty range space extraction (orse) algorithm used to identify a an initially overparameterized discrete-time state-space model for a single-link flexible manipulator. a controller named pdpc is designed to control rigid body motion, have a zero tracking error and minimum vibration.--abstract. | |
| dc.description.abstract | the observability range space extraction (orse) algorithm is successfully
applied to identify an initially overparameterized discrete-time state-space model for
a single-link flexible manipulator. several critical issues related to the experiments
and the implementation of the orse algorithm are addressed.
a new model reduction and updating technique is proposed and applied to reduce
the identified models. to quantify the contribution of individual modes to the
responses, a new measure referred to as modal response magnitude (mrm) is
developed and successfully applied to obtain a lower-order model by retaining the
most significant modes. to correct errors caused by the model reduction, either the
reduced input or output matrix is recalculated by a least squares solution.
based on the updated reduced-order models, a controller named as pdpc is
designed to ensure a good tracking accuracy and robustness to payload changes. the
experimental results show that the pdpc control structure is effective in controlling
rigid body motion to have a zero tracking error and the minimum vibration as well. | |
| dc.language.iso | en_us | |
| dc.subject | manipulators (mechanism) | |
| dc.subject | observers (control theory) | |
| dc.subject | robots control systems | |
| dc.title | system identification and control of a flexible manipulator | |
| dc.type | thesis | |
| etd.degree.name | master of science | |
| etd.degree.level | master | |
| etd.degree.discipline | engineering | |
| etd.degree.grantor | 阿根廷vs墨西哥竞猜
| |
