Precise Tip Positioning of a Flexible Manipulator Using Resonant Control

Mahmood, Iskandar Al-Thani; Moheimani, S. O. Reza; Bhikkaji, Bharath

doi:10.1109/tmech.2008.918494

Cited by 60 publications

(32 citation statements)

References 18 publications

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“…It is also called collocated velocity feedback controller because it avoids closed-loop instabilities due to spill over effects. Ideally to control vibration by damping, the control should be restricted to resonant frequencies only [1].…”

Section: Resonant Controller Design (Inner Loop)mentioning

confidence: 99%

“…WhereN is the number of resonant modes need to be controlled, ߜ is the damping ratio, ‫ݓ‬ is the resonant frequency and ߙ is a constant parameter ranging from 0≤ ߙ ≤ 150 [1]. In this study the resonant controller is designed using ten (10) elements; three resonant modes are considered which are‫ݓ‬ ଵ , ‫ݓ‬ ଶ ܽ݊݀ ‫ݓ‬ ଷ .…”

Section: Resonant Controller Design (Inner Loop)mentioning

confidence: 99%

“…For the past two decades, there is a significant increase in the number of research on the control of flexible manipulator, this is due to an increase in the demand for high speed robots in our industries [1]. The need for a light-weight flexible robot for industrial applications increases significantly due to their advantages over heavy-weight robot,Which are passing to mention a few: they can be easily driven using small sized actuator that consume less energy, high-speed operation, low cost and has light weight in passing [1].…”

Section: Introductionmentioning

confidence: 99%

“…The need for a light-weight flexible robot for industrial applications increases significantly due to their advantages over heavy-weight robot,Which are passing to mention a few: they can be easily driven using small sized actuator that consume less energy, high-speed operation, low cost and has light weight in passing [1].…”

Section: Introductionmentioning

confidence: 99%

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Vibration and tip deflection control of a Single-link flexible manipulator

Abdullahi¹,

Mohamed²,

Muhammad³

et al. 2013

IJICS

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In this paper, a hybrid control scheme for vibration and tip deflection control of a single link flexible manipulator system is presented. The purpose of this control is for input tracking, vibration control of hub angle and tip deflection control. The control scheme consists of a resonant controller and a fuzzy logic controller (FLC).The resonant controller is used as the inner loop feedback controller for vibration control using the resonant frequencies at different resonant modes of the system which were determined from experiment. The fuzzy logic controller is designed as the outer loop feedback controller for the tracking control and to achieve zero steady state error. The performance of the proposed control scheme is investigated via simulations and the results show the effectiveness of the control scheme, in addition thecontroller is tested to show it robustness using different values of payload.

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Section: Resonant Controller Design (Inner Loop)mentioning

confidence: 99%

Section: Resonant Controller Design (Inner Loop)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Vibration and tip deflection control of a Single-link flexible manipulator

Abdullahi¹,

Mohamed²,

Muhammad³

et al. 2013

IJICS

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“…Also, the positive-position feedback control scheme in [16], [17], can be considered using the NI framework. Furthermore, other control methodologies in the literature such as integral resonant control (IRC) [18] and resonant feedback control [19], [20], fit into the NI framework and their stability robustness properties can be explained by NI systems theory.…”

Section: Introductionmentioning

confidence: 99%

A subspace system identification algorithm guaranteeing the negative imaginary property

Mabrok

Haggag

Petersen

et al. 2014

53rd IEEE Conference on Decision and Control

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Index Terms-Negative imaginary systems, flexible structures, subspace system identification.Abstract-The negative imaginary (NI) property occurs in many important applications. For instance, flexible structure systems with collocated force actuators and position sensors can be modeled as negative imaginary systems. Obtaining a mathematical model for this class of systems using system identification methods may result into inaccurate models that poorly reflect the negative imaginary property. In this paper, a modified subspace system identification algorithm that ensures the negative imaginary property is presented. As an application of these results, an example of modeling a flexible system with a piezoelectric actuator and position sensor is presented. 53rd IEEE Conference on Decision and Control

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End‐Point Regulation and Vibration Suppression of a Flexible Robotic Manipulator

Zhang

Huang

2016

Asian Journal of Control

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In this paper, end‐point regulation and vibration suppression are investigated for a flexible robotic manipulator subject to the external disturbances. The dynamics of the flexible robotic manipulator is represented by one partial differential equation (PDE) and five ordinary differential equations (ODEs). Based on the Lyapunov's direct method, boundary control is developed to drive the manipulator to the desired set‐point and simultaneously suppress the vibrations of the flexible manipulator. Considering the unknown spatiotemporally varying disturbance, uniform boundedness of the closed‐loop system is achieved. The control performance of the closed‐loop system is guaranteed by suitably choosing the design parameters. Simulations are provided to illustrate the effectiveness of the proposed control.

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Precise Tip Positioning of a Flexible Manipulator Using Resonant Control

Cited by 60 publications

References 18 publications

Vibration and tip deflection control of a Single-link flexible manipulator

Vibration and tip deflection control of a Single-link flexible manipulator

A subspace system identification algorithm guaranteeing the negative imaginary property

End‐Point Regulation and Vibration Suppression of a Flexible Robotic Manipulator

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