Practical aspects on robust control strategies of a single link flexible manipulator

2002 ◽  
Author(s):  
L. Chirinos ◽  
D. Shusterman ◽  
J.J. Gonzalez ◽  
G.R. Widmann
Keyword(s):  
Robust Control ◽  
Control Strategies ◽  
Flexible Manipulator ◽  
Single Link

Point Control of a One-Link Flexible Manipulator

1986 ◽  
Vol 53 (1) ◽  
pp. 23-27 ◽  
Author(s):  
S. B. Skaar ◽  
D. Tucker
Keyword(s):  
Transfer Functions ◽  
Control Strategies ◽  
Open Loop ◽  
Flexible Manipulator ◽  
Distributed Parameter ◽  
Loop Control ◽  
Control Approach ◽  
Alternative Approach ◽  
Single Link ◽  
Point Control

An alternative approach to the control of nonrigid, distributed parameter systems is presented. Transfer functions that relate the response of points on the system to a controlling force or torque are used in place of ordinary differential equations, which represent an approximation to the system dynamics. The implications of this “point control” approach are discussed with regard to plant modeling accuracy, uncontrolled regions, open-loop and closed-loop control strategies, system identification, and feedback estimation. Sample optimal control histories are illustrated for a single-link manipulator member with end load.

QFT Based Robust Control of a Single-Link Flexible Manipulator

2007 ◽  
Vol 13 (1) ◽  
pp. 3-27 ◽  
Author(s):  
Murray L. Kerr ◽  
Suhada Jayasuriya ◽  
Samuel F. Asokanthan
Keyword(s):  
Robust Control ◽  
Flexible Manipulator ◽  
Single Link

Adaptive Inverse-Dynamic and Neuro-Inverse-Dynamic Active Vibration Control of a Single-Link Flexible Manipulator

2005 ◽  
Vol 219 (6) ◽  
pp. 431-448 ◽  
Author(s):  
M H Shaheed ◽  
H Poerwanto ◽  
M O Tokhi
Keyword(s):  
Position Control ◽  
Control Strategies ◽  
Inverse Model ◽  
Flexible Manipulator ◽  
Recursive Least Squares ◽  
Structural Vibration ◽  
Control Loop ◽  
Inverse Dynamic ◽  
Single Link ◽  
Collocated Control

This paper presents investigations into the development of adaptive inverse-dynamic and neuro-inverse-dynamic control strategies for a flexible manipulator system employing a combined collocated and non-collocated control structure. Collocated control is utilized to track the position of the system while the non-collocated inverse and neuro-inverse control are utilized to reduce the vibration of the system. The controllers are developed in two phases: a collocated position control loop using proportional-derivative feedback control is developed and combined first with an adaptive inverse non-collocated control loop using a recursive least-squares algorithm and then with a neuro-inverse model using a multi-layered perceptron neural network. The problem of instability of the non-collocated control loop arising from the non-minimum phase characteristics of the plant is solved in the former case by reflecting the non-invertible plant zeros into the stability region. In the case of the neuro-inverse model, the problem of instability of the control loop is accounted for through the neuro-inverse learning process. The performances of both the proposed control strategies are assessed within a simulation environment of a single-link flexible manipulator and it is demonstrated that a significant reduction in the level of structural vibration of the system is achieved with both techniques. The significance of the neuro-inverse model approach in achieving stable control is demonstrated.

Combined Discrete-Distributed Control of a Single-Link Flexible Manipulator Using a Lyapunov Approach

1999 ◽  
Vol 121 (3) ◽  
pp. 448-456 ◽  
Author(s):  
Min Gu ◽  
Samuel F. Asokanthan
Keyword(s):  
Hybrid Control ◽  
Control Strategies ◽  
Direct Method ◽  
Equations Of Motion ◽  
Design Procedure ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Single Link ◽  
And Performance ◽  
Good Agreement

This paper presents a development of hybrid control strategies for a single-link flexible manipulator. The control system consists of two actuators; a DC servo motor at the joint and a distributed piezoelectric film actuator bonded to the surfaces of the flexible link. Equations of motion considering two control inputs were developed using the generalized Hamilton’s principle. A feedback control law has been developed based on Lyapunov’s direct method and global stability of closed-loop system is guaranteed. A loop-closure technique was introduced to simplify the design procedure for choosing the feedback gains. Simulation and the experimental results were found to be in good agreement and performance improvement obtained using the hybrid control strategy has been demonstrated.

Sampled-data extended state observer-based backstepping control of two-link flexible manipulator

2019 ◽  
Vol 41 (13) ◽  
pp. 3581-3599 ◽  
Author(s):  
Umesh Kumar Sahu ◽  
Bidyadhar Subudhi ◽  
Dipti Patra
Keyword(s):  
Control Strategies ◽  
Estimation Error ◽  
Experimental Studies ◽  
State Observer ◽  
Lyapunov Theory ◽  
Extended State Observer ◽  
Flexible Manipulator ◽  
Sampled Data ◽  
Extended State ◽  
Model Uncertainties

Currently, space robots such as planetary robots and flexible-link manipulators (FLMs) are finding specific applications to reduce the cost of launching. However, the structural flexible nature of their arms and joints leads to errors in tip positioning owing to tip deflection. The internal model uncertainties and disturbance are the key challenges in the development of control strategies for tip-tracking of FLMs. To deal with these challenges, we design a tip-tracking controller for a two-link flexible manipulator (TLFM) by developing a sampled-data extended state observer (SD-ESO). It is designed to reconstruct uncertain parameters for accurate tip-tracking control of a TLFM. Finally, a backstepping (BS) controller is designed to attenuate the estimation error and other bounded disturbances. Convergence and stability of the proposed control system are investigated by using Lyapunov theory. The benefits (control performance and robustness) of the proposed SD-ESO-based BS controller are compared with other similar approaches by pursuing both simulation and experimental studies. It is observed from the results obtained that SD-ESO-based BS Controller effectively compensates the deviation in tip-tracking performance of TLFM due to non-minimum phase behavior and model uncertainties with an improved transient response.

Vibration Control of a Flexible Link Manipulator Using an Array of Fiber-Optic Curvature Sensors and Piezoelectric Actuators

2007 ◽  
Author(s):  
Kerem Gurses ◽  
Bradley J. Buckman ◽  
Edward J. Park
Keyword(s):  
Motion Control ◽  
Sensor Array ◽  
Fiber Optic ◽  
Element Model ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Velocity Feedback ◽  
Lyapunov Approach ◽  
Single Link ◽  
Actuator Control

This paper presents a novel feedback sensing approach for actively suppressing vibrations of a single-link flexible manipulator. Slewing of the flexible link by a rotating hub induces vibrations in the link that persist long after the hub stops rotating. These vibrations are suppressed through a combined scheme of PD-based hub motion control and proposed piezoelectric (PZT) actuator control, which is a composite linear and velocity feedback controller. Lyapunov approach was used to synthesize the controller based on a finite element model of the system. Its realization was possible due to the availability of both linear and angular velocity feedback provided by a unique, commercially-available fiber optic curvature sensor array, called ShapeTape™. It is comprised of an array of fiber optic curvature sensors, laminated on a long, thin ribbon tape, geometrically arranged in such a way that, when it is embedded into the flexible link, the bend and twist of the link’s centerline can be measured. Experimental results show the effectiveness of the proposed approach.

scholarly journals Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

2021 ◽  
Vol 162 ◽  
pp. 104347
Author(s):  
Lewei Tang ◽  
Marc Gouttefarde ◽  
Haining Sun ◽  
Lairong Yin ◽  
Changjiang Zhou
Keyword(s):  
Vibration Suppression ◽  
Dynamic Modelling ◽  
Flexible Manipulator ◽  
Single Link

Robust vibration control of flexible panel: modeling and simulation

2017 ◽  
Vol 14 (5) ◽  
pp. 433-442
Author(s):  
Aalya Banu ◽  
Asan G.A. Muthalif
Keyword(s):  
Robust Control ◽  
Vibration Control ◽  
Controller Design ◽  
Control Strategies ◽  
Active Vibration Control ◽  
Flexible Structures ◽  
Parametric Uncertainty ◽  
Design Algorithm ◽  
Content Type ◽  
And Performance

Purpose This paper aims to develop a robust controller to control vibration of a thin plate attached with two piezoelectric patches in the presence of uncertainties in the mass of the plate. The main goal of this study is to tackle dynamic perturbation that could lead to modelling error in flexible structures. The controller is designed to suppress first and second modal vibrations. Design/methodology/approach Out of various robust control strategies, μ-synthesis controller design algorithm has been used for active vibration control of a simply supported thin place excited and actuated using two piezoelectric patches. Parametric uncertainty in the system is taken into account so that the robust system will be achieved by maximizing the complex stability radius of the closed-loop system. Effectiveness of the designed controller is validated through robust stability and performance analysis. Findings Results obtained from numerical simulation indicate that implementation of the designed controller can effectively suppress the vibration of the system at the first and second modal frequencies by 98.5 and 88.4 per cent, respectively, despite the presence of structural uncertainties. The designed controller has also shown satisfactory results in terms of robustness and performance. Originality/value Although vibration control in designing any structural system has been an active topic for decades, Ordinary fixed controllers designed based on nominal parameters do not take into account the uncertainties present in and around the system and hence lose their effectiveness when subjected to uncertainties. This paper fulfills an identified need to design a robust control system that accommodates uncertainties.

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