Vibration Analysis of Single-Link Flexible Manipulator in an Uncertain Environment

Rao, P. Krishna; Roy, Debanik; Chakraverty, Snehashish

doi:10.1007/s42417-023-01007-2

Cited by 7 publications

(2 citation statements)

References 33 publications

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“…Among these structures, flexible manipulators stand out because of their high flexibility, low weight, and high energy efficiency [1][2][3]. However, flexible manipulators often encounter challenges associated with vibrations and deformations, mainly when operating in harsh environments [4,5]. These issues can have detrimental effects on system performance and production accuracy.…”

Section: Introductionmentioning

confidence: 99%

An intelligent control method for a flexible-link manipulator with uncertain backlash and model uncertainty

Guo,

Cai,

Zhang

et al. 2024

Eng. Res. Express

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This study examines a new intelligent control method for a single-link flexible manipulator that addresses backlash and model uncertainty. First, a smooth backlash inverse model is constructed to mitigate backlash nonlinearity. Subsequently, a "disturbance-like" term is formulated to recharacterize the coupled term composed of external disturbances and model uncertainty. A new adaptive controller is proposed to compensate for the unknown "disturbance-like" term. Using the proposed control method, the stability of the system is evaluated using the direct Lyapunov theory, ensuring uniform ultimate boundedness. Finally, numerical simulation and experiment are conducted using the Quanser platform. The numerical simulation and experimental results show that the proposed control can ensure a faster convergence rate and effectively reduce actuator input chattering.

show abstract

Section: Introductionmentioning

confidence: 99%

An intelligent control method for a flexible-link manipulator with uncertain backlash and model uncertainty

Guo,

Cai,

Zhang

et al. 2024

Eng. Res. Express

View full text Add to dashboard Cite

show abstract

“…Furthermore, the various random disturbances present during the operation of robotic arm systems also constitute a significant influencing factor on system stability [29]. Researchers have conducted in-depth studies on issues such as actuator saturation, friction constraints, and external disturbances [30][31][32]. It is worth noting that dead-zone inputs, as a type of nonlinear non-smooth problem [33][34][35], frequently arise in industrial processes.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Command Filtered Tracking Control for Flexible Robotic Arm with Input Dead-Zone

Zhao,

Chang,

2023

Applied Sciences

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In this paper, an adaptive fuzzy tracking control method is proposed to address the issues of dead-zone and unobservable states in a flexible robotic arm system. The control design process begins with the utilization of a fuzzy logic system to approximate the nonlinear functions present in the flexible robotic arm system. To estimate the unobservable states of the system, a state observer is then designed. To alleviate the computational complexity during controller design, the command filtering technique is introduced. Additionally, the Nussbaum function is incorporated to address the unknown control gain problem. The stability of the system can be verified through the design of a Lyapunov function. This study’s simulation results demonstrate that the designed control system can closely track the specified reference signals. The closed-loop system effectively controls the flexible robotic arm, as verified through experimentation.

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Oscillation Characteristics of Single-Link Flexible Manipulator Using Design Parameters in Fuzzy Domain

Rao,

Chakraverty,

Roy

2024

J. Vib. Eng. Technol.

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Vibration Analysis of Single-Link Flexible Manipulator in an Uncertain Environment

Cited by 7 publications

References 33 publications

An intelligent control method for a flexible-link manipulator with uncertain backlash and model uncertainty

An intelligent control method for a flexible-link manipulator with uncertain backlash and model uncertainty

Adaptive Fuzzy Command Filtered Tracking Control for Flexible Robotic Arm with Input Dead-Zone

Oscillation Characteristics of Single-Link Flexible Manipulator Using Design Parameters in Fuzzy Domain

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