State Observer Applied to Position and Vibration Control Using Flexible Link Manipulator

Abstract

Vibration control techniques are of a great importance in Aerospace Engineering, Automotive Engineering, Mechanical Engineering, and Robotics, providing stability and well damped behavior to control systems. In this context, this work aims to the development of a mathematical model for the slewing flexible structure, considering both flexible and rigid body motion. In order to obtain the equations of motion, the Euler-Lagrange method is considered. The experimental system consists of a flexible beam with a free end, and the other end clamped to a dc motor axis. The angular position of the motor axis is measured and sampled. The state observer is designed in order to estimate the flexible body motion and the angular speed of the rigid body motion, which are important signals in the feedback of vibration control systems. The mathematical model and the sate observer are experimentally validated. The expected results are the stabilization and damping of the vibration modes of the slewing flexible beam.