ADAPTIVE ESTIMATOR-CONTROLLER FOR SINGLE LINK FLEXIBLE MANIPULATOR

Abstract

A vibration frequency estimator based on moving-window discrete Fourier transform (MWDFT) integrated with frequency locked loop (FLL) is proposed for the vibration mode estimation of single-link exible manipulator (SLFM). A MWDFT exhibits tuned lter frequency response characteristics and this lter is considered as a digital system with negative feedback loop to track the tip de ection signal. The bandwidth of the MWDFT increases by the introduction of negative feedback. To estimate the frequency of the tip de ection signal, a FLL is designed with MWDFT-feedback loop. The frequency error was exploited to achieve synchronization between in-phase component of MWDFT and input signal. The existing frequency estimators and the FLL based on MWDFT are implemented on SLFM for the estimation of tip de ection signal amplitude and frequency. An LQR controller is designed to control the tip de ection of SLFM which e - ciently suppresses the tip de ection vibration.