Abstract
The flexible link system (FLS) was a highly nonlinear model, multivariable and absolutely unstable dynamic system. In practice, it is common to integrate multiple subsystems into the main system with dynamically turned k-input signals (k =1, 2,…, N) to diversity the functionality of the main system. The flexibility of the division method to convert k-input MIMO system to SISOs system combined with the optimal algorithm creates a powerful tool that can be applied to many different MIMO nonlinear systems with high success rates. The optimal controllers can be created in the future for the flexible system is implemented on an experiment system using Arduino UNO micro-controller KIT. This paper describes division method to convert the k-input MIMO system to SISOs system, after that combined with the optimal algorithm to control for the flexible link system. Specifically, the author will conduct oscillating component analysis of a system with k input pairs (k =1, 2) so that the author can better understand the nature of sub-components as they interact with the system.
Highlights
The flexible link system is a topic that attracts the attention of professionals in forming flexible structures for an automation system, from a simple model to a model with a relatively complex structure
The simulation results accurately reflect the problem: the optimal controller performs better when there is no external force applied to the system, for example: noise levels of other signals ..The optimal controller used in this case is more efficient than the simulation result without using any algorithms
It is proposed to investigate the operation of a flexible link system with 2 input pairs based on the simulation results to help the system achieve the desired functions
Summary
The flexible link system is a topic that attracts the attention of professionals in forming flexible structures for an automation system, from a simple model to a model with a relatively complex structure. The linear quadratic optimal boundary control of the flexible robotic arm is a new proposition based on the reference of the paper [1]. I can apply the techniques in article [2] to flexible robotic arms. The use of techniques in this article [3] in control systems is a promising research topic. The application of distributed parameter models for the robot’s mobile feet based on the reference of the article [4] is a new idea. A new proposal is the use of modern controllers for the design of systems in the paper [5]. The use of the optimal controller in [6, 7] is a new proposition. Maximum Allowable Load [13] of a flexible robotic arm is a promising topic
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