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

Esfandiar, Habib; Daneshmand, Saeed

doi:10.1007/s12206-013-0847-7

Cited by 5 publications

(2 citation statements)

References 15 publications

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“…However, the equivalent feedforward control methods described above not only heavily rely on the accuracy of the synthesized information, but also add additional sensors. This paper proposes an enhanced observer control based on Youla parameterization [31], [32] to improve the tracking performance of the CCD-based stewart platform. Compared with high-gain observer and sliding mode observer, this observer is insensitive to measurement noise [33], [34].…”

Section: Introductionmentioning

confidence: 99%

Enhanced Observer Control of a Cubic Stewart Platform With Image Sensor Measurement

Zhang

et al. 2022

IEEE Photonics J.

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A cubic Stewart platform with an image sensor meausring is proposed for a line-of-sight (LOS) pointing and stabilization. The charge couple device (CCD) as a image sensor mounted on the Stewart platform can provide the LOS error only in the azimuth and elevation directions, so a decoupled control strategy through the transformation of the Jacobian matrix is introduced to transform a Multiple-Input Multiple-Output (MIMO) control into Single-Input Single-Output (SISO) control. Due to the low bandwidth of the Stewart platform and the finite sampling rate of the CCD, the closed-loop performance is greatly restricted. An optimal observer control based on Youla parameterization is proposed to improve the tracking performance in the CCD-based Stewart platform control system. This improved controller relies on the LOS error combined with the controller output to produce high gain, plugging into the tradditional closed-loop structure, which results in minimizing the error attenuation function by designing an appropriate Q-filter. Both the simulations and experiments are carried out to prove the effectiveness of the proposed observer compared with the classical feedback controller.

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Section: Introductionmentioning

confidence: 99%

Enhanced Observer Control of a Cubic Stewart Platform With Image Sensor Measurement

Zhang

et al. 2022

IEEE Photonics J.

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“…The present paper assumes an extension to our earlier work. 32 The main contribution of this work aims at developing an efficient control approach for a single flexible link robot together with tip mass free from linearization in formulation of the dynamics equations. To deal with the infinite dimensional set of Y-K parameters for time continuous applications, a finite dimensional basis is introduced in this paper.…”

Section: Introductionmentioning

confidence: 99%

On the control of a single flexible arm robot via Youla-Kucera parameterization

2014

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SUMMARYIn this paper, based on the Youla-Kucera (Y-K) parameterization, the control of a flexible beam acting as a flexible robotic manipulator is investigated. The method of Youla parameterization is the simple solution and proper method for describing the collection of all controllers that stabilize the closed-loop system. This collection comprises function of the Youla parameter which can be any proper transfer function that is stable. The main challenge in this approach is to obtain a Youla parameter with infinite dimension. This parameter is approximated by a subspace with finite dimensions, which makes the problem tractable. It is required to be generated from a finite number of bases within that space and the considered system can be approximated by an expansion of the orthonormal bases such as FIR, Laguerre, Kautz and generalized bases. To calculate the coefficients for each basis, it is necessary to define the problem in the form of an optimization problem that is solved by optimization techniques. The Linear Quadratic Regulator (LQR) optimization tool is employed in order to optimize the controller gains. The main aim in controller design is to merge the closed-loop system and the second order system with the desirable time response characteristic. The results of the Youla stabilizing controller for a planar flexible manipulator with lumped tip mass indicate that the proposed method is very efficient and robust for the time-continuous instances.

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