Nonlinear/adaptive control architectures with active structures for flexible manipulators

This work investigates several techniques and methods for introducing vibration suppression of rapid maneuvering flexible manipulators. Closed loop techniques are investigated with and without link sensors/actuators. The use of smart structures consisting of advanced graphite/epoxy composites with embedded sensors and actuators are employed for active vibration investigations. Nonlinear and adaptive control architectures are developed and applied both numerically and experimentally to the problem of robust tracking of flexible manipulators. Optimized gains and improved slewing performance resulted from off-line calibration and optimization of flexible manipulator models. A slewing flexible link evaluation involved an output feedback sliding mode controller and dynamic observer architecture. Control systems, actuators, sensors, and link boundary conditions were evaluated and characterized. Specific design guidelines are demonstrated for the highest benefit of using active structures with varying hub transmissions. A novel nonlinear adaptive control architecture was developed for flexible active structures/manipulators.