Modeling and Robust PD Compensation of Two-Link Flexible Manipulator

Parida, Anuraag and Ranasingh, Subhakanta (2011) Modeling and Robust PD Compensation of Two-Link Flexible Manipulator. BTech thesis.



The Two Link Flexible manipulator (TLFM) is a two-input-two-output, highly nonlinear and unstable system. Therefore, modeling and control system design of such a system is a challenging task. To this end, first, to establish a non-linear mathematical model of the TLFM, its kinematic and dynamic motions are analyzed through assumed mode method. Then a linearized model about equilibrium point at origin is obtained from this nonlinear model via “linmod/linearize” command in MATLAB. Next, for this linearized model a two-loop robust PD controller is designed via root locus based loop shaping approach. The controller obtained thus is employed for the nonlinear system and the robustness results are verified.

Item Type:Thesis (BTech)
Uncontrolled Keywords:Two Link Flexible Manipulator (TLFM),Robust PD controller
Subjects:Engineering and Technology > Electrical Engineering
Divisions: Engineering and Technology > Department of Electrical Engineering
ID Code:2185
Deposited By:Mr. Anuraag Parida
Deposited On:12 May 2011 17:25
Last Modified:12 May 2011 17:25
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Supervisor(s):Subudhi, B D and Ghosh, A

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