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Data-Driven Modeling And Control Of A Two-Link Flexible Manipulator (Tlfm), Samuel Ayankoso
Data-Driven Modeling And Control Of A Two-Link Flexible Manipulator (Tlfm), Samuel Ayankoso
Theses and Dissertations
Two-link flexible manipulators (TLFMs) are used in different application domains, and their merits include lightweight, low energy consumption, high operational speed, transportability, maneuverability, and low cost. Despite the merits of TLFMs, the flexibility of the links introduces modeling and control problems. The existing mathematical modeling techniques of a TLFM, such as the assumed mode method (AMM), finite element method (FEM) and finite difference method (FDM are mathematically complex and do not accurately match the physical system dynamics. Lumped parameter method (LPM) model is a simplified model, but it is also inaccurate. Moreover, different forms of control problems are applicable to …