scholarly journals ACTIVE VIBRATIONAL CONTROL OF FLEXIBLE MANIPULATOR USING FILTERED-X LMS ALGORITHM

2017 ◽  
Keyword(s):  
Vibration Control ◽  
Vibration Mode ◽  
Notch Filter ◽  
Lms Algorithm ◽  
Flexible Manipulator ◽  
Resonant Vibration ◽  
Joint Angles ◽  
Adaptive Notch Filter ◽  
Vibrational Control ◽  
System Input

This paper describes the vibration control of a flexible manipulator using Filtered-x LMS algorithm. In this study adaptive notch filter is applied to the vibration control of a flexible manipulator model. The adaptive notch filter is designed to estimate multiple vibration mode frequencies of the flexible manipulator and to minimize the effect of vibration. The filtered-x LMS algorithm is applied to make the root strain error and the system input as close to minimization as possible. In the process, the adaptive notch filter learns to eliminate the resonant vibration frequencies of the system. The experimental results show that this presented adaptive notch filter system can suppress the vibration of the flexible manipulator and track the desired joint angles.

Improved stability performance of a feedback active noise control using a Steiglitz-McBride adaptive notch filter and robust secondary path identification based on variable step size Griffiths LMS algorithm

2021 ◽  
Vol 69 (2) ◽  
pp. 136-145
Author(s):  
S. Roopa ◽  
S.V. Narasimhan
Keyword(s):  
Noise Control ◽  
Active Noise Control ◽  
Notch Filter ◽  
Lms Algorithm ◽  
Variable Step Size ◽  
Step Size ◽  
Adaptive Notch Filter ◽  
Active Noise ◽  
Variable Step ◽  
Feedback Active Noise Control

A stable feedback active noise control (FBANC) system with an improved performance in a broadband disturbance environment is proposed in this article. This is achieved by using a Steiglitz-McBride adaptive notch filter (SM-ANF) and robust secondary path identification (SPI) both based on variable step size Griffiths least mean square (LMS) algorithm. The broadband disturbance severely affects not only FBANC input synthesized but also the SPI.TheSM-ANFestimated signal has narrowband component that is utilized for the FBANC input synthesis. Further, the SM-ANF error has broadband component utilized to get the desired signal for SPI. The use of variable step size Griffiths gradient LMS algorithm for SPI enables the removal of broadband disturbance and non-stationary disturbance from the available desired signal for better SPI. For a narrowband noise field, the proposed FBANC improves the convergence rate significantly (20 times) and the noise reduction from 10 dB to 15 dB (50%improvement) over the conventional FBANC (without SM-ANF and variable step size Griffiths LMS adaptation for SPI).

Hybrid vibration and rest-to-rest control of a two-link flexible robotic arm using H∞ loop-shaping control design

2016 ◽  
Vol 33 (2) ◽  
Author(s):  
Mostafa sayahkarajy ◽  
Z Mohamed ◽  
A.A.M. Faudzi ◽  
E. Supriyanto
Keyword(s):  
Vibration Control ◽  
Design Methodology ◽  
Flexible Manipulator ◽  
Structural Vibration ◽  
Joint Angles ◽  
Shaping Filter ◽  
Loop Shaping ◽  
Space Manipulators ◽  
Feed Forward Controller ◽  
Practical Implications

Purpose This study presents a method for simultaneous motion and vibration control of light-weight slender robotic arms, known as flexible manipulators. In this paper, a new control algorithm is proposed for a two-link manipulator with elastic links. Design/methodology/approach The controller includes a MIMO H∞ Loop-Shaping Design (H∞LSD) as the feedback controller, and a command pre-shaping filter as the feed-forward controller. The conventional inputs and outputs of a typical two-link manipulator , that consists of the torques applied by the actuators at the joints, and the joint angles are chosen for the feedback control. Findings It is shown that by selecting a proper desired loop shape, the H∞LSD is able to control the joint angles of the manipulator, and simultaneously, suppress vibrations of the system so that the high frequency chatter due to the structural vibration modes does not appear at the outputs. Then it is shown that when the H∞LSD is equipped with a command pre-shaping filter, more efficient suppression of the chatter at the tip of the manipulator is achieved. The capability and effectiveness of the proposed control strategy in driving and stabilizing the manipulator to desired positions and simultaneously suppressing structural vibrations is shown by the simulation of the flexible manipulator in rest-to-rest maneuvers. Practical implications Flexible Manipulator, Space Manipulators Originality/value A robust MIMO controller is proposed for simultaneous motion and vibration control of flexible manipulator.

Application of Quantum Particle Swarm Optimization in Adaptive Notch Filter Design

2012 ◽  
Vol 482-484 ◽  
pp. 2466-2469
Author(s):  
Jie Zhang
Keyword(s):  
Particle Swarm Optimization ◽  
Filter Design ◽  
Quantum Particle ◽  
Particle Swarm ◽  
Notch Filter ◽  
Lms Algorithm ◽  
Single Frequency ◽  
Swarm Optimization ◽  
Quantum Particle Swarm Optimization ◽  
Adaptive Notch Filter

Abstract: adaptive notch filter is a kind of apparatus which can eliminate single frequency or narrow-band interference, normal adaptive algorithm of notch filter is LMS algorithm, but the faster convergence velocity and the smaller steady error are difficult to gain simultaneously. Aimed at the weakness of LMS, the Particle Swarm Optimization (PSO) is studied deeply in the paper, based on the PSO; the quantum mechanic theory is added to improve it. Quantum Particle Swarm Optimization (QPSO) is researched and applied for adaptive notch filter which is proved more efficient in the noise control by MATLAB simulation. The new QPSO algorithm can balance the maladjustment and the searching ability of adaptive filter with a little calculation, the speed of convergence is faster than LMS and normal PSO algorithm.

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