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The performance of feedforward controllers is known to be subject to the accuracy of the mathematical models used for controlled objects. To obtain an accurate mathematical model for a single-link flexible manipulator, we perform nonlinear modeling based on large-deflection theory. A feedforward vibration control technique is applied to the resulting mathematical model in which we consider point-to-point...
Modern fire-rescue turntable ladders are build to be in lightweight of construction to increase their maximum operation velocities, maximum length, and outreach. Hence, the truss structure of the ladder set provides a limited stiffness and is subject to bending oscillations in the various modes. To damp these oscillations with its hydraulic drives, a 2-degree-of-freedom control is proposed in this...
This paper presents investigations into the development of control schemes for end-point vibration suppression and input tracking of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, initially a Linear Quadratic Regulator (LQR) is developed...
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