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

Abdullahi, Auwalu M.; Mohamed, Zainai; Muhammad, Mustapha; Bature, Amir A.

doi:10.5121/ijics.2013.3402

Cited by 15 publications

(5 citation statements)

References 17 publications

(26 reference statements)

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“…However, increasing the payload results in increment of the system overshoot and the end point vibration. 110 A controller with two stages was developed for precise angular position and damping the residual vibrations of a single-FLM; the first stage is for the angular positioning and the second stage to damp the vibration with employing PZT actuators. 12 A modified integrated controller of PID and SMC was proposed in ref.…”

Section: Hybrid Controllersmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

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Section: Hybrid Controllersmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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“…On the other hand, the model of the flexible arm is relatively complicated and needs experimental results to be verified. Another work presented a hybrid control scheme for vibration and tip deflection control of a single-link flexible manipulator system [21]. The control structure consists of a resonant controller and a fuzzy logic controller (FLC).…”

Section: Introductionmentioning

confidence: 99%

Hybrid Vibration Control Algorithm of a Flexible Manipulator System

Nguyen

Bui

2023

Robotics

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Flexible manipulator systems in specific applications such as space exploration, nuclear waste treatment, medical applications, etc., often have characteristics superior to conventional rigid manipulator systems. However, their elasticity and complex dynamics lead to difficulties encountered in control processes. Research on improving the structure of the control model plays a very important role in reducing the above limitations and achieving great benefits for the flexible manipulator system. In this study, a general method for modelling a flexible robotic manipulator is introduced. Furthermore, two control models for flexible manipulators are proposed. The first model uses two proportional–integral–derivative (PID) controllers, where the first one is used for position control, and the other is applied for vibration reduction. The second model is an enhanced development of the first with the addition of a fuzzy logic controller to optimise oscillation suppression. Selected experimental results are presented and compared to evaluate the performance of the proposed control mechanisms.

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“…State feedback-based fuzzy controller was designed for the RFJ system using linear matrix inequalities [ 4 ]. The tip deflection of the flexible arm is controlled via a hybrid controller by incorporating a double feedback architecture to minimize the resonance in the flexible arm [ 5 ]. An integral resonant control method was also implemented for flexible joints of robotic manipulators [ 6 ].…”

Section: Introductionmentioning

confidence: 99%

Rotary Flexible Joint Control Using Adaptive Fuzzy Sliding Mode Scheme

Aljohani

Mehedi

Bilal

et al. 2022

Computational Intelligence and Neuroscience

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An adaptive fuzzy sliding control (AFSMC) approach is adopted in this paper to address the problem of angular position control and vibration suppression of rotary flexible joint systems. AFSMC consists of fuzzy-based singleton control action and switching control law. By adjusting fuzzy parameters with the self-learning ability to discard system nonlinearities and uncertainties, singleton control based on fuzzy approximation theory can estimate the perfect control law of feedback linearization. To enhance robustness, an additional switching control law is incorporated to reduce the approximation error between the derived singleton control action and the perfect control law of feedback linearization. AFSMC's closed-loop stability will be demonstrated via sliding surface and Lyapunov function analysis of error function. In order to demonstrate the effectiveness of the AFSMC in tracking performance as well as its ability to respond to model uncertainties and external perturbations, simulations are carried out using Simulink and Matlab in order to demonstrate how well it adapts to these situations. Based on these results, it can be concluded that the AFSMC performs satisfactorily in terms of tracking.

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

Cited by 15 publications

References 17 publications

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Hybrid Vibration Control Algorithm of a Flexible Manipulator System

Rotary Flexible Joint Control Using Adaptive Fuzzy Sliding Mode Scheme

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