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Centralized, decentralized, and independent control of a flexible manipulator on a flexible baseThe dynamics and control of a flexible manipulator arm with payload mass on a flexible base in space are considered. The controllers are provided by one torquer at the center of the base and one torquer at the connection joint of the robot and the base. The nonlinear dynamics of the system is modeled by applying the finite element method and Lagrangian formula. Three control strategies are considered and compared, i.e., centralized control, decentralized control, and independent control. All these control designs are based on the linear quadratic regulator theory. A mathematical decomposition is used in the decentralization process so that the coupling between the subsystems is weak, while a physical decomposition is used in the independent control design process. For both the decentralized and the independent controls, the stability of the overall linear system is checked before a numerical simulations is initiated. Two numerical examples show that the response of the independent control system are close to those of the centralized control system, while the responses of the decentralized control system are not.
Document ID
19920032636
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Li, Feiyue
(Howard Univ. Washington, DC, United States)
Bainum, Peter M.
(Howard Univ. Washington, DC, United States)
Xu, Jianke
(Howard University Washington, DC, United States)
Date Acquired
August 15, 2013
Publication Date
October 1, 1991
Subject Category
Man/System Technology And Life Support
Report/Patent Number
IAF PAPER 91-357
Accession Number
92A15260
Funding Number(s)
CONTRACT_GRANT: NSG-1414
Distribution Limits
Public
Copyright
Other

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