Implementation of input shaping in hybrid control schemes of a lab-scaled rotary crane system

2010 ◽  
Author(s):  
M. A. Ahmad ◽  
M. S. Ramli ◽  
R. M. T. Raja Ismail ◽  
R. E. Samin ◽  
M. A. Zawawi
Keyword(s):  
Hybrid Control ◽  
Input Shaping ◽  
Control Schemes ◽  
Rotary Crane

Hybrid control schemes for input tracking and vibration suppression of a flexible manipulator

2003 ◽  
Vol 217 (1) ◽  
pp. 23-34 ◽  
Author(s):  
Z Mohamed ◽  
M O Tokhi
Keyword(s):  
Pid Controller ◽  
Vibration Suppression ◽  
Hybrid Control ◽  
Body Motion ◽  
Flexible Manipulator ◽  
Input Shaping ◽  
The Finite Element Method ◽  
Control Schemes ◽  
Frequency Domains ◽  
Feedforward Controller

This paper presents investigations into the development of hybrid control schemes for input tracking and end-point vibration suppression of a flexible manipulator system. The dynamic model of the flexible manipulator is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller utilizing hub angle and hub velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate a non-collocated proportional-integral-derivative (PID) controller and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performances of the hybrid control schemes are assessed in terms of input tracking and level of vibration reduction in comparison to the PD control. The effectiveness of the control schemes in handling various payloads is also studied. Finally, a comparative assessment of the hybrid control schemes is presented.

scholarly journals Synchronization Control of Time-Varying Complex Dynamic Network with Nonidentical Nodes and Coupling Time-Delay

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Youjian Zhang ◽  
Wenjun Yan ◽  
Qiang Yang
Keyword(s):  
Time Delay ◽  
Feedback Control ◽  
Complex Networks ◽  
Hybrid Control ◽  
Dynamic Network ◽  
Time Varying ◽  
Static Feedback ◽  
Control Schemes ◽  
Coupling Time ◽  
Nonidentical Nodes

This paper addresses the synchronization problem for a class of complex networks with time-varying topology as well as nonidentical nodes and coupling time-delay and presents two efficient control schemes to synchronize the network onto any given smooth goal dynamics. The time-varying network is supposed to be bounded within a certain range, which cannot be controlled. Through the adoption of hybrid control with linear static feedback control and adaptive feedback control, two control schemes are derived to guarantee such complex networks to reach the global synchronization. Finally, a set of numerical simulation experiments are carried out and the results demonstrate the effectiveness of the suggested control solutions.

Hybrid Learning Control With Input Shaping for Input Tracking and Vibration Suppression of a Flexible Manipulator

Volume 1 ◽  
2004 ◽  
Author(s):  
M. Z. Md Zain ◽  
M. O. Tokhi ◽  
Z. Mohamed
Keyword(s):  
Iterative Learning Control ◽  
Vibration Suppression ◽  
Hybrid Learning ◽  
Learning Control ◽  
Iterative Learning ◽  
Body Motion ◽  
Flexible Manipulator ◽  
Input Shaping ◽  
Control Schemes ◽  
Frequency Domains

The objective of the work reported in this paper is to investigate the development of hybrid iterative learning control with input shaping for input tracking and end-point vibration suppression of a flexible manipulator. The dynamic model of the system is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate iterative learning control and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. Simulation results of the response of the manipulator with the controllers are presented in the time and frequency domains. The performance of the hybrid learning control with input shaping scheme is assessed in terms of input tracking and level of vibration reduction. The effectives of the control schemes in handling various payloads are also studied.

Hybrid Robust Control for Gantry Crane System

2010 ◽  
Vol 29-32 ◽  
pp. 2082-2088 ◽  
Author(s):  
Zhi Mei Chen ◽  
Wen Jun Meng ◽  
Ming Hui Zhao ◽  
Jing Gang Zhang
Keyword(s):  
Sliding Mode Control ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Gantry Crane ◽  
Input Shaping ◽  
Transient Vibration ◽  
Shaping Technique ◽  
Mode Control ◽  
System A ◽  
Accurate Position

A new hybrid control scheme combining input shaping technique with robust sliding mode control is proposed for a gantry crane system. A cascade sliding-mode controller is designed to control the trolley position and eliminate the sway of load. The transient vibration is reduced further for safety problems by the input shaping technique which utilizes zero-vibration-derivative (ZVD) robust input shapers. This method can not only realize the accurate position of the trolley and eliminate the sway of the load and residual vibration, but also completely eliminate the chattering of conventional sliding mode control and improve the robustness of system. The simulation results proved its effectiveness.

scholarly journals Robust Tracking Control for Switched Fuzzy Systems with Fast Switching Controller

2012 ◽  
Vol 2012 ◽  
pp. 1-21 ◽  
Author(s):  
Hong Yang ◽  
Le Zhang ◽  
Xiaodong Liu
Keyword(s):  
Hybrid Control ◽  
Convex Combination ◽  
Good Control ◽  
Smooth Transition ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Switching Law ◽  
Fast Switching ◽  
Control Schemes ◽  
Switching Controller

This paper addresses the problem of designing robust tracking controls for a class of switched fuzzy (SF) systems with time delay. A switched fuzzy system, which differs from existing ones, is firstly employed to describe a nonlinear system. Next, a fast switching controller consisting of a number of simple subcontrollers is proposed. The smooth transition is governed by using the fast switching controller. Tracking hybrid control schemes which are based upon a combination of theH∞tracking theory, fast switching control algorithm, and switching law design are developed such that theH∞model referent tracking performance is guaranteed. Since convex combination techniques are used to derive the delay independent criteria, some subsystems are allowed to be unstable. Finally, various comparisons of the elaborated examples are conducted to demonstrate the effectiveness of the proposed control design approach. All results illustrate good control performances as desired.

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