Lookup table control method for vibration suppression of a flexible manipulator with optimization of the minimum settling time and energy consumption

Abstract

Active vibration suppression of flexible manipulators is important in many engineering applications, such as robot manipulators and high-speed flexible mechanisms. The demand for a short settling time and low energy consumption of vibration suppression requires consideration of optimal control. Under a wide range of operating conditions, however, the fixed optimal parameters determined for a control algorithm might not produce the best performance. Therefore, to enhance performance, this paper suggests a lookup table control method for a flexible manipulator. This method can tune itself to the optimal parameters on the basis of initial maximum responses to the controlled system. In this study, a multi-objective genetic algorithm is used to search for optimal parameters with regard to positive position feedback to the control algorithm. In turn, with the optimal parameters, the multi-objective functions of the settling time and energy consumption during the vibration control of a flexible manipulator can be minimized. The simulation and experimental results both indicate that the energy consumption can be reduced significantly if the settling time is slightly increased.

A Robust Controller for A 3‐DOF Flexible Robot with a Time Variant Payload

“…Once the inner loop control has been closed with (14), the relation between Q m * and Qm can be obtained: The gains Kp and Kv are diagonal matrices, and are tuned so that the dynamics of the inner loop become much faster than the mechanical structure dynamics.…”

“…The main disadvantage of this is that the dynamics must be truncated. Finally, in [14], a lookup table control method for flexible manipulators is suggested. In [13], a robust vibration control for flexible arms using sliding mode control is presented.…”

On the Two‐Inertia System: Analysis of the Asymptotic Behaviors to Multiple Feedback Position Control

“…The concept of pole placement was utilized in their design, which is appreciated by the industrial society. Much of the literature is related practically to manufacturing procedures, for example Yu and Chen [4], Hsieh et al [5], Pujol and Acho [6], and Phan et al [7]. Li and Hori [2] proposed a solution of vibration suppression in a two-inertia system using an integration of a fractional-order disturbance observer.…”

On a Simplified Residual Vibration Ratio Function for Input Shaping Control

“…One of several ways to reduce residual vibrations in input shaping control [1][2] is an open-loop control technique that can reduce residual vibrations of undamped or under-damped systems by convolving a sequence of impulses with a desired command. This, however, lacks intrinsic robustness to modeling errors due to its open-loop control characteristics.…”