scholarly journals A hybrid control strategy for vibration damping and precise tip-positioning of a single-link flexible manipulator

2009 ◽  
Author(s):  
Emiliano Pereira ◽  
Sumeet S. Aphale ◽  
Vicente Feliu ◽  
S. O. Reza Moheimani
Keyword(s):  
Control Strategy ◽  
Hybrid Control ◽  
Vibration Damping ◽  
Flexible Manipulator ◽  
Single Link

Hybrid control of piezoelectric flexible manipulator based on Volterra filtered-xLMS algorithm

2021 ◽  
pp. 107754632110459
Author(s):  
Yuxue Pu ◽  
Xiaobao Li ◽  
Fang Zhang
Keyword(s):  
Vibration Control ◽  
Nonlinear Vibration ◽  
Lead Zirconate Titanate ◽  
Control Strategy ◽  
Hybrid Control ◽  
Vibration Response ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Volterra Filter ◽  
Derivative Control

To suppress the nonlinear vibration of the flexible manipulator during motion, this article presents a hybrid control strategy based on a servo motor and a piezoelectric actuator. The dynamic model of the piezoelectric flexible manipulator is established first. To realize the trajectory tracking, a proportional derivative control method is used to schedule the control torque. Because the Volterra filter can approximate the nonlinear system model, a Volterra filtered-xLMS algorithm based on a second-order Volterra filter structure is proposed, by which the active nonlinear vibration control of flexible link is realized. Simulation results show that the proposed Volterra filtered-xLMS algorithm can not only make use of the advantages of the classical filtered-xLMS algorithm but also solve the problem of effective modeling of nonlinear secondary path. The proposed hybrid control strategy based on Volterra filtered-xLMS algorithm and proportional derivative control algorithm can improve the position accuracy of joint and effectively suppress the vibration response of the nonlinear flexible link. A piezoelectric flexible manipulator with PZT (lead zirconate titanate) sensor and actuator is designed to demonstrate the validity and efficiency of the proposed method by experiments. Experiment results demonstrate that the attenuation time of vibration response is reduced from 5 s to 1.5 s, the vibration response at the first-order frequency is reduced by 60%, and the proposed methodology has an important advantage in application of active vibration control of piezoelectric flexible manipulator.

A fast stable control strategy based on system energy for a planar single-link flexible manipulator

2018 ◽  
Vol 94 (1) ◽  
pp. 615-626 ◽  
Author(s):  
Qing-Xin Meng ◽  
Xu-Zhi Lai ◽  
Ya-Wu Wang ◽  
Min Wu
Keyword(s):  
Control Strategy ◽  
Flexible Manipulator ◽  
Single Link ◽  
System Energy ◽  
Stable Control

scholarly journals Optimized output-based input shaping for control of single-link flexible manipulator using linear matrix inequality

2020 ◽  
Vol 20 (1) ◽  
pp. 109
Author(s):  
Nura Musa Tahir ◽  
Mustapha Muhammad ◽  
Bashir Bala Muhammad ◽  
Haliru Liman ◽  
Aminu Yahaya Zimit ◽  
...  
Keyword(s):  
Linear Matrix Inequality ◽  
Hybrid Control ◽  
Flexible Manipulator ◽  
Linear Matrix ◽  
Response Analysis ◽  
Matrix Inequality ◽  
Loop Control ◽  
Control Scheme ◽  
Single Link ◽  
Hybrid Control Scheme

<span>Precise hub angle positioning due to tip deflections, flexible motions and under various payloads is enormous tasks in the control of single-link flexible manipulators. In this paper, output-based command shaping (OBCS) was designed using the system output for tip deflections and residuals vibrations suppression, and this was incorporated with a linear matrix inequality (LMI) closed-loop control scheme for precise hub angle positioning.  The robustness of the hybrid control scheme was tested by changing the payloads from 0g to 30g, and 50g. Simulation results showed that endpoint residuals vibrations and tip deflections due to flexible motions were suppressed and hence precise hub angle positioning under various payloads was achieved. Integral absolute error (IAE), Integral square error (ISE) and Time response analysis (TRA) were used as the performance indexes. Hence, the hybrid control scheme is simple and robust.</span>

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

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.

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.

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