Dynamic Model and Robust Control of Flexible Link Robot Manipulator
Abstract: The problems of a
flexible link manipulator are uncertainties and parametric nonlinearities. This
paper presents design and development of a robust control based on linear
quadratic regulator (LQR) for a flexible link manipulator. System performances were evaluated in terms
of input tracking capability of hub angular position response, end-point displacement,
end-point residual and hub velocity. For the controller of the system, LQR was
developed to solve flexible link robustness and input tracking capability of
hub angular position. The results achieved by the proposed controller are
compared with conventional PID, to substantiate and verify the advantages of
the proposed scheme and its promising potential in control of a flexible link
manipulator. The robust control presented faster settling time and smaller
overshoot responses and tracking performances of the proposed controller compared
with PID controllers.
Author: Mohammad Khairudin,
Zaharuddin Mohamed, Abdul Rashid Husain
Journal Code: jptkomputergg110035
