Abstract:

     To solve the problem that the state of flexible payload handling is not completely measurable, the control of manipulators handling a flexible payload based on output feedback is studied. The cooperative system is decoupled into a quick subsystem and a slow subsystem by singular perturbation theory because that the inputs are less than the degrees of freedom. The relations between the vibration states of the system are established using the information of points between the ends manipulators and the flexible payload and the characteristics of the flexible payload, and the observer is designed. The error equation of the observer is transformed into state matrix according to the characteristics of the system. The parameters of the observer are designed using the eigenvalues of the matrix, and this idea is used to prove the stability of the system. Simulation results validate the designed observer and controller.

Key words: automaticcontroltechnology, flexiblepayload, cooperative, singularperturbation, observer