Reconstruction and robust reduced-order observation of flexible variablesThis 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. 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.
Document ID
19880023739
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hastings, Gordon G. (Clemson University SC, United States)
Book, Wayne J. (Georgia Institute of Technology Atlanta, United States)