Robust Control in Bending and Torsional Coupled Vibrations of a Flexible Robot Arm

2003 ◽  
Author(s):  
Kohei Takamura ◽  
Kousuke Yamamoto ◽  
Hiromiti Kawabe ◽  
Shirley J. Dyke ◽  
Toru Watanabe ◽  
...  
Keyword(s):  
Robust Control ◽  
Controller Design ◽  
Design Procedure ◽  
Robot Arm ◽  
Flexible Robot ◽  
Coupled Vibrations ◽  
Flexible Arm ◽  
H Infinity Control ◽  
Robust Control Design ◽  
Auxiliary Mass

This paper address that the vibration control system design for a flexible arm which possesses bending and torsional coupled vibrations. First, an experimental flexible arm is made which has a rotational shaft driven by a servomotor in one end, and an auxiliary mass connected to the other end so that the center of the stiffness of the arm may not exist on the direction of motion of the auxiliary mass which denotes payload. Three degree-of-freedom (DOF) reduced order model is identified according to Seto’s procedure. Based on the obtained model, robust control design procedure utilizing H-infinity control theory is applied. In the controller design procedure, the uncertainty associated with neglecting high frequency modes is represented by unstructured uncertainty. Computer simulations are carried out and it is clarified that the obtained controller achieved a good performance. The effectiveness of presented modeling method and controller design procedure are verified through control experiments.

Robust Vibration Control of a Flexible Robot Arm Carrying an Uncertain Load That Causes Bending/Torsional Coupling

2004 ◽  
Vol 16 (4) ◽  
pp. 426-433
Author(s):  
Toru Watanabe ◽  
◽  
Kohsuke Yamamoto ◽  
Kohei Takamura ◽  
Kazuto Seto
Keyword(s):  
Controller Design ◽  
Design Method ◽  
Design Procedure ◽  
Experimental System ◽  
Physical Models ◽  
Robot Arm ◽  
Coupled Vibration ◽  
Flexible Robot ◽  
Torsional Coupling ◽  
Robust Control Design

This paper presents the design procedure of a robust H∞controller for bending/torsional coupled vibration of a flexible robot arm. If the arm does not hold the center of the load, it possesses bending/torsional coupled vibration modes that may not be precisely identified. In this research, we use H∞robust control design with structured uncertainties used to describe the model error in the coupling of bending/torsional vibration. We set up an experimental system and identify two physical models using Seto’s modeling method. An H∞controller is designed using these models and control simulations and experiments are conducted. Our results demonstrate the feasibility and effectiveness of the proposed modeling and controller design method.

Identification, uncertainty modeling and robust controller design for an electromechanical actuator

2016 ◽  
Vol 230 (20) ◽  
pp. 3631-3641 ◽  
Author(s):  
Rafik Salloum ◽  
Mohammad Reza Arvan ◽  
Bijan Moaveni
Keyword(s):  
Robust Control ◽  
Controller Design ◽  
Low Cost ◽  
Design Procedure ◽  
Control Design ◽  
Uncertainty Modeling ◽  
Feedback Compensation ◽  
Robust Control Design ◽  
High Dynamics ◽  
Low Sensitivity

Electromechanical actuators (EMAs) are of interest for applications which require easy control and high dynamics. This paper addresses the experimental identification, structured and unstructured uncertainties modeling, and robust control design for an EMA system with harmonic drive. Two robust controllers are designed by two proposed approaches: The first is based on Kharitonov theorem, which not only robustly stabilizes the uncertain EMA system but also maintains the pre-specified margins and bandwidth constraints. The second is feedback compensation design procedure based on H∞ control theory, verifying good tradeoff between the powerful H∞ controller and the unique features of feedback compensation, such as simplicity, effectiveness, low sensitivity to parameters variations, low cost, and easy implementation. Simulation and experiments prove the robustness and high tracking performance of the robust EMA systems which reveals the affectivity of the proposed robust control design methods.

Neural-Network Based Learning Control of Flexible Mechanism With Application to a Single-Link Flexible Arm

1994 ◽  
Vol 116 (4) ◽  
pp. 792-795 ◽  
Author(s):  
Kazuhiko Takahashi ◽  
Ichiro Yamada
Keyword(s):  
Neural Network ◽  
Angular Position ◽  
Target System ◽  
Space Representation ◽  
Robot Arm ◽  
Flexible Robot ◽  
Neural Network Controller ◽  
Flexible Arm ◽  
Single Link ◽  
Flexible Mechanism

This paper shows the effectiveness of a neural-network controller for controlling a flexible mechanism such as a flexible robot arm. An adaptive-type direct neural controller is formulated using state-space representation of the dynamics of the target system. The characteristics of the controller are experimentally investigated by using it to control the tip angular position of a single-link flexible arm.

Robust Optimal Control of MAV Based on Linear-Time Varying Decoupled Model Dynamics

2013 ◽  
Vol 198 ◽  
pp. 571-576 ◽  
Author(s):  
Arkadiusz Mystkowski
Keyword(s):  
Robust Control ◽  
Linear Time ◽  
Design Procedure ◽  
Serial Connection ◽  
Air Vehicle ◽  
Model Dynamics ◽  
Aerial Vehicle ◽  
Robust Control Design ◽  
Control Feedback ◽  
Nonlinear Robust

This paper discusses a nonlinear robust control design procedure to micro air vehicle that uses the singular value (μ) and μ-synthesis technique. The optimal robust control law that combines a linear parameters varying (LPV) of UAV (unmanned aerial vehicle) are realized by using serial connection of the Kestrel autopilot and the Gumstix microprocessor. Thus, the robust control feedback loops, which handle the uncertainty of aerodynamics derivatives, are used to ensure robustness stability of the UAV local dynamics in longitudinal and lateral control directions.

Dynamic Finite Element Analysis of the Position Control System of a Two-Link Horizontal Flexible Robot

1990 ◽  
Vol 2 (2) ◽  
pp. 83-90
Author(s):  
Hiroyuki Kojima ◽  
Keyword(s):  
Finite Element ◽  
Control System ◽  
Position Control ◽  
Velocity Curve ◽  
Element Formulation ◽  
Robot Arm ◽  
Flexible Robot ◽  
Element Analysis ◽  
Flexible Arm ◽  
Position Control System

In this paper, a finite element formulation method for a horizontal flexible robot arm with two links is first presented. In the analysis, the kinetic energy of the flexible arm is represented in brief compared with previous methods, and the matrix equation of motion in consideration of the nonlinear forces, such as the Coriolis force, is derived by the finite element method and the variational theorem. Then, the state equation of the mechatronics system consisting of the flexible arm and the position control system is obtained. Secondly, numerical simulations in the case of applying path control based on the trapezoidal velocity curve are carried out by use of the Wilson-<I>θ</I> method, and the effects of the bending rigidity and the shape of the trapezoidal velocity curve on the dynamic characteristics of the mechatronics system are demonstrated.

scholarly journals Robust control system design in frequency domain

2013 ◽  
Vol 23 (1) ◽  
pp. 61-78 ◽  
Author(s):  
Vojtech Veselý ◽  
Jakub Osuský
Keyword(s):  
Robust Control ◽  
Frequency Domain ◽  
Controller Design ◽  
Mimo Systems ◽  
Additive Model ◽  
Water System ◽  
Design Procedure ◽  
Robust Control System ◽  
Small Gain ◽  
Tank Water

Abstract In this paper two robust control methods for hybrid system are presented. Both methods are usefull for SISO and MIMO systems. Controller design procedure is developed in frequency domain. Equivalent subsystem method is used for controller design in this paper. Stability condition of proposed methods bases on small gain theory and uses additive and inverse additive model type. Two tank water system is presented in the paper and serves as a numerical example to compare effectiveness of described methods

A NEW ROBUST CONTROL DESIGN PROCEDURE BASED ON A PE IDENTIFICATION UNCERTAINTY SET

2002 ◽  
Vol 35 (1) ◽  
pp. 145-150 ◽  
Author(s):  
X. Bombois ◽  
G. Scorletti ◽  
B.D.O. Anderson ◽  
M. Gevers ◽  
P. Van den Hof
Keyword(s):  
Robust Control ◽  
Design Procedure ◽  
Control Design ◽  
Uncertainty Set ◽  
Robust Control Design

Controller Design Robust to Frequency Variation in a One-Link Flexible Robot Arm

1989 ◽  
Vol 111 (1) ◽  
pp. 9-14 ◽  
Author(s):  
V. V. Korolov ◽  
Y. H. Chen
Keyword(s):  
Position Control ◽  
Controller Design ◽  
Wide Spectrum ◽  
Operating Conditions ◽  
Frequency Variation ◽  
Robot Arm ◽  
Flexible Robot ◽  
Complete Knowledge ◽  
Control Scheme ◽  
Frequency Variations

The end-point position control problem of a one-link flexible robot arm under wide spectrum of operating conditions is considered. Natural frequency variations may arise in practice and are treated as the uncertainty. A robust control scheme is designed for the manipulator for some guaranteed performances without the complete knowledge of uncertainty. The only required information of the uncertainty is its possible bound.

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