Earticle

초록

영어

Flexible manipulators active vibration control has been subject to a large number of research papers due to its high potential for industrial applications. However, this approach generally requires the feedback of state variables that are not always available via direct measurements. The present study proposes a state estimation scheme for a nonlinear one – link flexible manipulator based on the Extended Kalman Filter. First, the flexible manipulator, seen as an Euler-Bernoulli cantilever beam, is modeled using The Hamilton’s principle, the elastic movement is approximated using the assumed modes method and the system non linear equations are introduced and converted into the matrix form. Then, the observability of the system is proven and the Extended Kalman Filter scheme is detailed. This article compares, via the numerical simulation results included, the efficiency of the state estimate, reflected by the estimation error and the time required by the filter to converge, relatively to the assumptions on the available measurements.

목차

Abstract
 1. Introduction
 2. Dynamic Model of the Flexible Manipulator
 3. State Estimation and Observer Design
  3.1. State Estimation Problem
  3.2. The Extended Kalman Filter
 4. Simulation Results
 5. Conclusion
 References

키워드

저자

• Mohammed Bakhti [ Moulay Ismaïl University, Ecole Nationale Supérieure d’Arts et Métiers, Morocco ]
• Badr Bououlid Idrissi [ Moulay Ismaïl University, Ecole Nationale Supérieure d’Arts et Métiers, Morocco ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605