Experimental Investigation of Vibration Suppression Control for Flexible Robot Arm

1999 ◽  
Author(s):  
Kengo Inoue ◽  
Nobuyuki Kobayashi
Keyword(s):  
Output Feedback ◽  
Vibration Suppression ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
Sliding Mode Controller ◽  
Robot Arm ◽  
Flexible Robot ◽  
Modeling Methodology ◽  
Flexible Arm ◽  
Good Agreement

Abstract Experimental evaluation of the vibration suppression control performance about the output feedback sliding mode controller for the two-link flexible robot arm is presented. The reduce-order controller is designed based on a kind of the component mode synthesis modeling methodology, and is also designed by the combination of the suboptimal output feedback control and the sliding mode control algorithm. From the experiments of the two-link flexible robot arm model, the good agreement between the numerical simulation results and the experimental ones are obtained not only the motion of the joints but also the arm vibration. And it is verified that the presented output feedback sliding mode controller suppresses the vibration of the flexible arm quit well for various attitude.

Robust output feedback control for aeroelastic vibration suppression of a 2-DOF airfoil under quasi-steady flow

2017 ◽  
Vol 24 (19) ◽  
pp. 4604-4619 ◽  
Author(s):  
K Zhang ◽  
S Manaffam ◽  
P Marzocca ◽  
A Behal
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Vibration Suppression ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
Leading Edge ◽  
Control Surface ◽  
Closed Loop System ◽  
Aeroelastic System ◽  
Surface Deflections

In this paper, a robust output feedback control design is developed for suppression of aeroelastic vibration of a 2-DOF nonlinear wing section system. The aeroelastic system operates in a quasi-steady aerodynamic incompressible flowfield and is actuated using a combination of a leading-edge (LE) and a trailing-edge (TE) flap. By only utilizing measurements of pitching and plunging deflections, an innovative Lyapunov-based procedure is used to design sliding mode control inputs for the LE and TE control surface deflections. The closed-loop system is shown to have semi-global asymptotic stability even in the presence of model uncertainty and unknown external gust loading. Extensive simulation results under a variety of scenarios show the effectiveness of the control strategy.

Compensating Control of a Flexible Robot Arm

1990 ◽  
Vol 2 (2) ◽  
pp. 97-106 ◽  
Author(s):  
Masaru Uchiyama ◽  
◽  
Zhao Hui Jiang ◽  
Kyojiro Hakomori
Keyword(s):  
Control System ◽  
Vibration Suppression ◽  
Hierarchical Control ◽  
Elastic Vibration ◽  
Convergence Condition ◽  
Robot Arm ◽  
Flexible Robot ◽  
End Effector ◽  
Flexible Arm ◽  
Arm Motion

Since the characteristics of flexible robot arm motion is far more complex than that of rigid arm motion due to its link elastic deflections, the flexible arm end-effector positioning problem also becomes more complex. The problem is finally resolved into the following three subproblems: (1) how to suppress the link elastic vibration, (2) how to achieve accurate joint positioning, and (3) how to compensate the end-effector positioning errors due to the link deflections. The problem (1) is being solved by many pieces of work. The problem (2) arises also in the case of rigid arms but, since the joint positioning and link vibration suppressing are coupled, it becomes more complex for the case of flexible arms. The problem (3) is important in order for the arms to perform tasks but no effective method has been presented so far to solve it. This paper presents a hierarchical control system which incorporates organically three control functions: joint positioning, link vibration suppression, and end-effector positioning error compensation. The convergence condition for the compensating control is derived theoretically for the condition of static gravitational loads. The effectiveness of the proposed control system is proved by experiments using a two-link flexible arm. The link deflections are measured by a newly devised and developed sensor consisting of a semiconductor laser and a position sensitive detector (PSD).

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