Modelling and State Variable Feedback Control with Proportional Action of a One-Link Flexible Manipulator Incorporating Payload

Abstract

This paper presents a state variable feedback (SVF) control with proportional gain to control a one-link flexible manipulator incorporating payload. The dynamic model of a one-link flexible manipulator is developed through a finite element method. The system is uncertain due to the variation of payloads and numbers of elements. There is a challenge in designing a controller for each number of elements. To obtain the effectiveness of the controllers, a combination of SVF control-based LQR controls with proportional gain is developed for a flexible link manipulator with payload variations. An assessment is conducted to examine the input tracking controller capability of the hub angular position, deflection, hub velocity and end-point residual of the one-link flexible manipulator. The responses of the system are shown in domains of time and frequency, while the SVF control with proportional gain schemes is also discussed. This study finds that the payload effects on the response incorporating payload with SVF control and proportional gain schemes can provide input tracking performance with zero steady state error.