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Estimation for Control of Flexible M...

Patel, Dhruvi N.,

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Estimation for Control of Flexible Manipulators in Space /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Estimation for Control of Flexible Manipulators in Space // Dhruvi N Patel.
作者:	Patel, Dhruvi N.,
面頁冊數:	1 electronic resource (78 pages)
附註:	Source: Masters Abstracts International, Volume: 86-05.
Contained By:	Masters Abstracts International86-05.
標題:	Aerospace engineering. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31485805
ISBN:	9798342754149

Estimation for Control of Flexible Manipulators in Space /
Patel, Dhruvi N.,

Estimation for Control of Flexible Manipulators in Space /Dhruvi N Patel. - 1 electronic resource (78 pages)

Source: Masters Abstracts International, Volume: 86-05.

Most orbital manipulators in space can be described as flexible. Robustly controlling these flexible manipulators has been an object of interest in research for decades. One approach is to treat the manipulator as passive, enabling robust stability through a straightforward proportional-derivative control law based on the passivity theorem. This thesis leverages this passivity characterization to control the end-effector trajectory of one-link, two-link, and three-link flexible manipulators.To determine the end-effector position for feedback in trajectory control, measurement of a specification called the generalized elastic coordinates is needed. However, this specification is challenging to measure directly. Instead, the thesis adopts a closed-form approximation initially proposed in the literature to estimate it. Multiple simulations are conducted to investigate the use of these approximated elastic coordinates in robustly controlling a flexible manipulator with a payload mass.

English

ISBN: 9798342754149Subjects--Topical Terms:

1002622
Aerospace engineering.
Subjects--Index Terms:

Controls

Estimation for Control of Flexible Manipulators in Space /
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500 $a Source: Masters Abstracts International, Volume: 86-05.
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520 $a Most orbital manipulators in space can be described as flexible. Robustly controlling these flexible manipulators has been an object of interest in research for decades. One approach is to treat the manipulator as passive, enabling robust stability through a straightforward proportional-derivative control law based on the passivity theorem. This thesis leverages this passivity characterization to control the end-effector trajectory of one-link, two-link, and three-link flexible manipulators.To determine the end-effector position for feedback in trajectory control, measurement of a specification called the generalized elastic coordinates is needed. However, this specification is challenging to measure directly. Instead, the thesis adopts a closed-form approximation initially proposed in the literature to estimate it. Multiple simulations are conducted to investigate the use of these approximated elastic coordinates in robustly controlling a flexible manipulator with a payload mass.
546 $a English
590 $a School code: 0779
650 4 $a Aerospace engineering. $3 1002622
650 4 $a Mechanical engineering. $3 649730
650 4 $a Robotics. $3 519753
653 $a Controls
653 $a Dynamic modelling
653 $a Flexible manipulators
653 $a State estimation
690 $a 0538
690 $a 0548
690 $a 0771
710 2 $a University of Toronto (Canada). $b Aerospace Science and Engineering. $e degree granting institution. $3 3829858
720 1 $a Damaren, Christopher $e degree supervisor.
773 0 $t Masters Abstracts International $g 86-05.
790 $a 0779
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792 $a 2024
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