KALMAN FILTER BASED LEQG CONTROL OF A PARALLEL-STRUCTURED SINGLE-LINK FLEXIBLE ARM MOUNTED ON MOVING BASE

This paper presents a method of risk-sensitive stabilization using a Kalman filter based LEQG control for a parallel-structured single-link flexible arm mounted on a moving base such as vehicles. The arms are subject to random disturbance due to the acceleration of the vehicle's random motion Caused by random buckles in the road. The purpose of this work is to construct an LEQG controller based on a Kalman filter for reducing the random vibration of the parallel-structured single-link flexible arm mounted on a moving base. The parallel-structured single-link flexible arm consists of two uniform Euler-Bernoulli beams, which support a tip-mass. The exact mathematical model of this flexible arm is quite complex. The structure of the arm is approximated by a single-link flexible arm consisting of an Euler Bernoulli beam with the same boundary conditions of the parallel-structured one. The LEQG controller and the Kalman filter are constructed for the finite-dimensional model corresponding to the simplified structure model. Furthermore, we assume that the random disturbance due to the acceleration of moving base is regarded as the white Gaussian noise, because the fluctuation of vehicle's motion is random and unknown.