Acceleration feedback control for a flexible manipulator arm

Abstract

The authors report laboratory results for a single-link flexible manipulator arm in which three separate control strategies are compared and contrasted: compensation using classical root locus techniques with endpoint position feedback, a full state feedback observer-based design, and compensation using endpoint acceleration feedback. The last technique, using accelerometer feedback, has received little attention to date. The presented results indicate great promise for its use in flexible manipulator control.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>