Resonant Control of a Single-Link Flexible Manipulator

2014 ◽  
Vol 67 (5) ◽  
Author(s):  
Auwalu M. Abdullahi ◽  
Z. Mohamed ◽  
Marwan Nafea M.
Keyword(s):  
Feedback Control ◽  
Flexible Manipulator ◽  
Control Loop ◽  
Vibration Effect ◽  
System A ◽  
Resonant Modes ◽  
Single Link ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
Resonant Control

This paper presents resonant control of a single-link flexible manipulator based on the resonant modes frequencies of the system. A flexible manipulator system is a single-input multi-output (SIMO) system with motor torque as an input and hub angle and the tip deflection as outputs. The previous system which is modeled using the finite element method is considered, and the resonant modes of the system are determined. Two negative feedback controllers are used to control the system. The inner feedback control loop designed using the resonant frequencies adds damping to the system and suppress the vibration effect around the hub angle. For the outer feedback control loop, a proportional integral controller is designed to achieve a zero steady state error so that a precise tip positioning can be achieved. Simulation results are presented and discussed to show the effectiveness of the resonant control scheme. 

PASSIVITY-BASED INTEGRAL CONTROL AND STABILITY ANALYSIS OF A CONSTRAINED SINGLE-LINK FLEXIBLE ARM

2013 ◽  
Vol 37 (3) ◽  
pp. 673-683
Author(s):  
Liang Y. Liu ◽  
Hsiung C. Lin
Keyword(s):  
Contact Force ◽  
Angular Acceleration ◽  
Flexible Manipulator ◽  
Distributed Parameter ◽  
Integral Control ◽  
Flexible Arm ◽  
Single Link ◽  
Integral Controller ◽  
Poles And Zeros ◽  
Necessary And Sufficient

The design of flexible manipulator is complicated due to inherently infinite dimension in nature. The sequential challenge is the problem such a non-minimum phase that is the cause of system instability. In this paper, a constrained single-link flexible arm is fully investigated using a linear distributed parameter model. In order to overcome the inherent limitations, a new input induced by the joint angular acceleration and an output generated using the contact force and root shear force are defined. A necessary and sufficient condition is thus derived so that all poles and zeros of the new transfer function lie on the imaginary axis. Also, the passive integral control is designed to accomplish the regulation of the contact force. The excellent performance of the passive integral controller is verified through numerical simulations.

scholarly journals Dynamic characterisation of a flexible manipulator system

Robotica ◽  
2001 ◽  
Vol 19 (5) ◽  
pp. 571-580 ◽  
Author(s):  
M.O. Tokhi ◽  
Z. Mohamed ◽  
M.H. Shaheed
Keyword(s):  
Finite Element ◽  
Dynamic Modelling ◽  
Model Performance ◽  
Element Model ◽  
Flexible Manipulator ◽  
Experimental Investigations ◽  
Inertia Effects ◽  
System A ◽  
Frequency Domains ◽  
Single Link

This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system is developed based on finite element methods. The flexural and rigid dynamics of the system as well as inertia effects and structural damping are accounted in the model. Performance of the algorithm in describing the dynamic behaviour of the system is assessed in comparison to an experimental test-rig. Experimental results are presented for validation of the developed finite element model in the time and frequency domains.

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.

scholarly journals Time-Delayed Acceleration Feedback Control of a Single-Link Flexible Manipulator Using Kalman Filter

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Yuming Huang ◽  
Weidong Chen ◽  
Minqiang Shao
Keyword(s):  
Time Delay ◽  
Feedback Control ◽  
Control Algorithm ◽  
Controller Design ◽  
Feedforward Control ◽  
Random Noise ◽  
Flexible Manipulator ◽  
Lagrange’S Equation ◽  
Single Link ◽  
Acceleration Feedback

The design problem of a discrete controller with time delay and acceleration feedback for a single-link flexible manipulator system is addressed in this paper. The dynamical model of a single-link flexible manipulator system is presented by the adoption of the finite element method and Lagrange’s equation. Based on the random-walk process and the discrete reduction method, an augmented discretized delay-free state derivate space equation containing the random noise is established. An acceleration-based Kalman filtering method is developed in order to estimate the system state and external excitation necessary for the controller design. In light of the estimated augmented states, a hybrid controller that combines a feedback control algorithm and a feedforward control algorithm is designed according to optimal control theory and Moore–Penrose theory. Numerical simulation results show that the proposed controller can damp out the vibration response of the flexible manipulator system effectively upon external excitations. Moreover, it is further revealed that the control performance of the presented method can be improved by adding the time delay appropriately.

scholarly journals Integral Resonant Control for Vibration Damping and Precise Tip-Positioning of a Single-Link Flexible Manipulator

2011 ◽  
Vol 16 (2) ◽  
pp. 232-240 ◽  
Author(s):  
Emiliano Pereira ◽  
Sumeet S. Aphale ◽  
Vicente Feliu ◽  
S. O. Reza Moheimani
Keyword(s):  
Vibration Damping ◽  
Flexible Manipulator ◽  
Single Link ◽  
Resonant Control

Comparison of Linear and Nonlinear Control on a Distributed Parameter System

1993 ◽  
Author(s):  
Ralph W. Rietz ◽  
Daniel J. Inman
Keyword(s):  
Feedback Control ◽  
Nonlinear Control ◽  
Position Control ◽  
Flexible Manipulator ◽  
Distributed Parameter ◽  
Similar Response ◽  
Nonlinear Feedback ◽  
Control Effort ◽  
Single Link ◽  
Measures Of Performance

Abstract The performance of a single link, very flexible manipulator using two different position control systems was studied. A standard PD feedback control was considered along with PD plus position times velocity feedback. An analytical model of the plant was identified and computer simulations using the two controllers were performed. The results clearly showed a decrease in control effort for the system using nonlinear control when compared to a similar response for the system using PD control. Experimental results on a slewing beam system verified this result. The system using the proposed nonlinear feedback control required significantly less energy to complete the same maneuver as the system using the standard PD feedback control. Other measures of performance (e.g. rise time, settling time, overshoot) were slightly improved when the nonlinear feedback was added to the controller.

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