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.

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.

scholarly journals Performance Of Hybrid Learning Control With Input Shaping For Input Tracking And Vibration Suppression Of A Flexible Manipulator

2012 ◽  
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 Input ◽  
Control Scheme

Objektif kertas kerja ini ialah untuk mengkaji keberkesanan gabungan pengawal pembelajaran berulang cerdik dan teknik pembentuk masukan bagi penjejakan masukan dan pengurangan getaran pada hujung suatu pengolah fleksibel. Model dinamik sistem tersebut diterbitkan menggunakan kaedah unsur terhingga. Pada permulaan, pengawal kadaran–kebezaan (PD) menggunakan sudut dan halaju hub direka bentuk untuk kawalan pergerakan badan tegar sistem. Kemudian, pengawal pembelajaran berulang dengan algoritma genetik dan pengawal suap hadapan berasaskan teknik pembentuk masukan ditambahkan untuk kawalan getaran sistem. Keputusan simulasi dalam domain masa dan frekuensi diberikan. Keberkesanan pengawal yang direka bentuk ini dikaji berasaskan penjejakan masukan dan kadar pengurangan getaran sistem. Keberkesanan pengawal ini untuk sistem pengolah fleksibel berbagai beban juga dikaji. Kata kunci: Pengolah fleksibel, algoritma genetik, kawalan cerdik, kawalan pembelajaran berulang, pembentukan masukan The objective of the work reported in this paper is to investigate the performance of an intelligent hybrid iterative learning control scheme with input shaping for input tracking and end–point vibration suppression of a flexible manipulator. The dynamic model of the system is derived using 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 with genetic algorithm (GA) to optimize the learning parameters 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 performance of hybrid learning control with input shaping scheme is assessed in terms of input tracking and level of vibration reduction. The effectiveness of the control schemes in handling various payloads is also studied. Key words: Flexible manipulator, genetic algorithms, intelligent control, iterative learning control, input shaping

Anti-Sway Control Schemes of a Boom Crane Using Command Shaping Techniques

2014 ◽  
Vol 67 (5) ◽  
Author(s):  
M. H. I. Ishak ◽  
Z. Mohamed ◽  
R. Mamat
Keyword(s):  
Dynamic Characteristics ◽  
Comparative Assessment ◽  
Input Shaping ◽  
Command Shaping ◽  
Control Techniques ◽  
Shaping Technique ◽  
Control Schemes ◽  
Frequency Domains ◽  
And Performance ◽  
Boom Crane

This paper presents investigations into the applications and performance of command shaping techniques for control of payload sway of a boom crane based on filtering and the input shaping technique. The mathematical dynamic model describing the motion of the boom crane is developed using the Lagrange-Euler's equation. The dynamic characteristics of the system are studied and analysed using the Matlab Simulink in time and frequency domains. Command shaping techniques based on filtering and the input shaping techniques are then developed and used to control the payload sway of the boom crane. The performance of the control techniques are studied in terms of the level of sway reduction, time response and robustness. Finally, a comparative assessment of the effectiveness of the control schemes for sway control of a boom crane is presented and discussed.

scholarly journals Experimental Identification and Vibration Control of A Non-Collocated Piezoelectric Flexible Manipulator Using Optimal Multi-Poles Placement Control

2017 ◽  
Author(s):  
Junqiang Lou ◽  
Jiangjiang Liao ◽  
Yiling Yang ◽  
Yanding Wei ◽  
Guoping Li
Keyword(s):  
Closed Loop ◽  
Vibration Suppression ◽  
Strain Sensors ◽  
Flexible Manipulator ◽  
Experimental Identification ◽  
Model Match ◽  
Frequency Domains ◽  
Full State ◽  
Poles Placement ◽  
Multi Mode

This paper presents experimental identification and vibration suppression of a flexible manipulator with non-collocated piezoelectric actuators and strain sensors using optimal multi-poles placement control. To precisely identify the system model, a reduced order transfer function with relocated zeros is proposed, and a first-order inertia element is added to the model to compensate the non-collocation. Comparisons show the identified model match closely with the experimental results both in the time and frequency domains, and a fit of 97.2% is achieved. Based on the identified model, a full-state multi-poles placement controller is designed, and the optimal locations of the closed loop poles are determined. The feasibility of the proposed controller is validated by simulations. Moreover, the controller is tested for different locations of the closed loop poles, and an excellent performance of the optimal locations of the closed loop poles is shown. Finally, the effectiveness of the proposed controller is demonstrated by experiments. Results show that the vibrations of the expected modes are significantly diminished. Besides, vibrations of the higher modes are also slightly suppressed. Accordingly, multi-mode vibrations of the manipulator are well attenuated, and the tip displacement converges quickly with the proposed method.

Hybrid Control Scheme of Coordinated Motion and Active Vibration Suppression for Free-Floating Space Flexible Manipulator With Parameter Uncertainty

2009 ◽  
Author(s):  
Zhaobin Hong ◽  
Chen Li
Keyword(s):  
Parameter Uncertainty ◽  
Vibration Suppression ◽  
Controller Design ◽  
Hybrid Control ◽  
Flexible Manipulator ◽  
Control Force ◽  
Coordinated Motion ◽  
Flexible Mode ◽  
Control Scheme ◽  
Hybrid Control Scheme

The dynamic control and vibration suppression problems of free-floating space flexible manipulator are studied. The Variable Structure Control (VSC) law alone, which is designed to track the desired trajectories of base’s attitude and joint angles, does not guarantee the stability of the flexible mode dynamics of the flexible link. In order to actively suppress the flexible vibration, a hybrid trajectory for the VSC is generated using the virtual control force concept. Based on the hybrid trajectory, the hybrid control scheme is proposed to eliminate the flexible vibration while the robustness of VSC developed for coordinated motion is maintained. In particular, it doesn’t require measuring the position, velocity nor acceleration of the base in the controller design. Simulation result confirms that the proposed hybrid control scheme can dominates the trajectory tracking of coordinated motion and actively suppress the vibration in the presence of parameter uncertainty.

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