Active force control of a flexible manipulator by distal feedback

Hewit, J.R.; Morris, Jon R.; Sato, Kaiji; Ackermann, Florian

doi:10.1016/s0094-114x(96)00055-9

Cited by 14 publications

(8 citation statements)

References 3 publications

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“…Furthermore, applications of the AF control strategy to suppress vibration of a flexible system were done by some researchers [5][6][7]. Hewit et al [5] used the AF control for deformation and disturbance attenuation of a flexible manipulator.…”

Section: Introductionmentioning

confidence: 99%

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Comparison of proportional-derivative and active-force controls on vibration of a flexible single-link manipulator using finite-element method

Muhammad

Okamoto

Lee

2014

Artif Life Robotics

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Section: Introductionmentioning

confidence: 99%

“…Hewit et al [5] used the AF control for deformation and disturbance attenuation of a flexible manipulator. Then, a PD control was used for trajectory tracking of the flexible manipulator.…”

Section: Introductionmentioning

confidence: 99%

Comparison of proportional-derivative and active-force controls on vibration of a flexible single-link manipulator using finite-element method

Muhammad

Okamoto

Lee

2014

Artif Life Robotics

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“…Furthermore, applications of the AF control strategy to suppress vibration of a flexible system were done by some researchers [4][5][6]. Hewit et al [4] used the AF control for deformation and disturbance attenuation of a flexible manipulator.…”

Section: Introductionmentioning

confidence: 99%

“…Hewit et al [4] used the AF control for deformation and disturbance attenuation of a flexible manipulator. Then, a PD control was used for trajectory tracking of the flexible manipulator.…”

Section: Introductionmentioning

confidence: 99%

Active-Force Control on Vibration of a Flexible Single-Link Manipulator Using a Piezoelectric Actuator

Muhammad

Okamoto

Lee

2014

Transactions on Engineering Technologies

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The purposes of this research are to formulate the equations of motion of the system, to develop computational codes by a finite-element method in order to perform dynamics simulation with vibration control, to propose an effective control scheme using three control strategies, namely active-force (AF) proportional (P), and proportional-derivative (PD) controls and to confirm the calculated results by experiments of a flexible single-link manipulator. The system used in this paper consists of an aluminum beam as a flexible link, a clamp-part, a servo motor to rotate the link and a piezoelectric actuator to control vibration. Computational codes on time history responses, Fast Fourier Transform (FFT) processing and eigenvalues-eigenvectors analysis were developed to calculate the dynamic behavior of the link. Furthermore, the AF, P, and PD controls strategies were designed and compared their performances through calculations and experiments. The calculated and experimental results showed the superiority of the proposed AF control compared to the P and PD ones to suppress the vibration of the flexible link manipulator.

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“…AFC has been represented to be efficient in eliminating disturbances for physical systems. The AFC technique was first employed for vibration control by Hewit et al to control a flexible manipulator motion (Hewit et al, 1997). Moreover, the AFC incorporated with classical controller was used in active suspension systems of vehicles (Mailah and Priyandoko, 2007;Priyandoko et al, 2009;Alexandru and Alexandru, 2010;Rajeswari, 2010).…”

Section: Introductionmentioning

confidence: 99%

Roll Movement Control of a Spray Boom Structure Using Active Force Control with Artificial Neural Network Strategy

Tahmasebi

Rahman

Mailah

et al. 2013

Journal of Low Frequency Noise, Vibration and Active Control

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Currently, most of modern sprayers are equipped with suspensions for improving the uniformity of spray application in the field. Therefore, this paper represents the possibility of applying active force control (AFC) technique for the control of a spray boom structure undesired roll movement through a simulation analysis. The dynamic model of the spray boom was firstly defined and an AFC-based scheme controller was designed and simulated in MATLAB environment.Artificial neural network (ANN) is incorporated into the AFC scheme to tune the proportionalderivative (PD) controller gains andcompute the spray boom estimated mass moment of inertia. The training of both ANN with multi layer feed forward structure was done using Levenberg-Marquardt (LM) learning algorithm. To evaluate the AFC-ANN control system robustness, various types of disturbances and farmland terrain profileshave been used to excite the spray boom. The results of the study demonstrated that the AFC-based method offers a simple and effective computation compared to the conventional proportional-integral-derivative (PID) control technique in attenuating the unwanted spray boom roll oscillation or vibration. The AFC-ANN scheme is found to exhibit superior performance for different proposed terrain profilesin comparison to the AFC-PD and pure PD counterparts.

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Active force control of a flexible manipulator by distal feedback

Cited by 14 publications

References 3 publications

Comparison of proportional-derivative and active-force controls on vibration of a flexible single-link manipulator using finite-element method

Comparison of proportional-derivative and active-force controls on vibration of a flexible single-link manipulator using finite-element method

Active-Force Control on Vibration of a Flexible Single-Link Manipulator Using a Piezoelectric Actuator

Roll Movement Control of a Spray Boom Structure Using Active Force Control with Artificial Neural Network Strategy

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