TY - GEN
T1 - Control Methodologies for Tip Stabilization in Flexible Robotic Manipulators
T2 - 3rd International Conference on Robotics, Control, Automation, and Artificial Intelligence, RCAAI 2024
AU - Ghosal, Sagar
AU - Lochan, Kshetrimayum
AU - Jaiswal, Ankur
AU - Sahu, Umesh Kumar
AU - Jawale, H. P.
AU - Jha, Abhishek
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.
PY - 2026
Y1 - 2026
N2 - Flexible robotic manipulators are increasingly utilized in the aerospace industry, leading to continuous advancements in their control methodologies. While PID controllers have traditionally been predominant in this field, there is a shift toward exploring and implementing new control strategies. This paper employs the finite element method to develop the dynamics of a single-link flexible robotic manipulator, calculating the generalized inertia and stiffness matrices for a specified manipulator length. It also formulates both the linear quadratic regulator (LQR) and linear quadratic Gaussian (LQG) controllers. The system is linearized to create a state-space representation, and the dynamic responses, including tip deflections and velocities, are analyzed under a bang-bang torque scenario. The study examines LQR and LQG controllers with both partial and full state feedback. The tip deflections of the manipulator are compared to those produced by a PID controller. The performance of all controllers is evaluated based on the time required for tip stabilization, with conclusions drawn from the collected data.
AB - Flexible robotic manipulators are increasingly utilized in the aerospace industry, leading to continuous advancements in their control methodologies. While PID controllers have traditionally been predominant in this field, there is a shift toward exploring and implementing new control strategies. This paper employs the finite element method to develop the dynamics of a single-link flexible robotic manipulator, calculating the generalized inertia and stiffness matrices for a specified manipulator length. It also formulates both the linear quadratic regulator (LQR) and linear quadratic Gaussian (LQG) controllers. The system is linearized to create a state-space representation, and the dynamic responses, including tip deflections and velocities, are analyzed under a bang-bang torque scenario. The study examines LQR and LQG controllers with both partial and full state feedback. The tip deflections of the manipulator are compared to those produced by a PID controller. The performance of all controllers is evaluated based on the time required for tip stabilization, with conclusions drawn from the collected data.
UR - https://www.scopus.com/pages/publications/105030283112
UR - https://www.scopus.com/pages/publications/105030283112#tab=citedBy
U2 - 10.1007/978-981-95-2901-8_48
DO - 10.1007/978-981-95-2901-8_48
M3 - Conference contribution
AN - SCOPUS:105030283112
SN - 9789819529001
T3 - Lecture Notes in Electrical Engineering
SP - 645
EP - 655
BT - Intelligent Control, Robotics, and Industrial Automation - Proceedings of International Conference, RCAAI 2024
A2 - Bhiradi, Ishwar
A2 - Machado, Jose
PB - Springer Science and Business Media Deutschland GmbH
Y2 - 14 October 2024 through 16 October 2024
ER -