LQR control of a single link flexible manipulator

The main task of this thesis is to present the approach to control the single link on a space lightweight robot. The modeling and the linearization should be achieved before designing the controller. During the modeling the Lagrange equation and floating frame reference theory are used. In the linearization part both the Matlab linearization tool and the state space theory will be applied. The robot is considered as a flexible multi body, so the single link is considered as a flexible link, which has 13 degrees of freedom in this case. In order to fulfill the final requirement that the robot hand could follow the designed orbit and achieve the commanded movement, the optimal control theory will be applied. In this study the traditional LQR controller will be illustrated as the tool.