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|
|Deposited By:||Mr. Anuraag Parida|
|Deposited On:||12 May 2011 17:25|
|Last Modified:||12 May 2011 17:25|
|Supervisor(s):||Subudhi, B D and Ghosh, A|
Repository Staff Only: item control page