Vibration control of flexible robotic arms using robust model matching control

Lü, Jianming; Shafiq, Muhammad; Yahagi, Takashi

doi:10.1109/amc.1996.509327

Cited by 4 publications

(3 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Khorrami et al [1995] (58) controlled the tip vibrations of flexible manipulators under varying payload conditions using adaptive control and input preshaping. Lu et al [1996] (59) designed and implemented the controller and sensors based on a reduced-order model obtained through assumed mode analysis of flexible arm. Tso et al [2003] (60) minimized tip deflection using a non-linear Lyapunov-type controller designed for trajectory control.…”

Section: Control Strategies For Accurate Tip Positioningmentioning

confidence: 99%

“…Lagrangian-Assumed modes method [Oakley and Cannon, 1989] (13) , [Luca and Siciliano, 1991] (14) , [Li and Sankar, 1993] (15) , [Mayo et al, 1995] (111) , [Lu et al, 1996] (59) , [Theodore and Ghosal, 1997] (17) , [Ata et al, 2012] (19) , [Loudini, 2013] (80) , [Chen and Shan, 2020] (113) , [Yang et al, 2017] (113) In this method, Lagrangian dynamics is used to formulate the equations of motion.…”

mentioning

confidence: 99%

See 1 more Smart Citation

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

View full text Add to dashboard Cite

Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are dynamic modelling and control of flexible link robots. A brief, yet, significant review is provided that addresses these issues. Methods: The various approaches used by researchers for dynamic modelling and control of flexible robots are presented. Besides that, methods used for achieving optimal control are also discussed. Findings: After a review of 153 research papers from the year 1975 to 2021, it has been found that a good dynamic model of flexible manipulator helps in reducing the control and computational efforts. Recent trends in research in the area of flexible manipulators are towards the use of sliding mode control and vision-based control techniques. Novelty: Inclusion of the effect of torsional vibrations besides lateral vibrations on the positional accuracy of flexible manipulators makes the current research work novel.

show abstract

Section: Control Strategies For Accurate Tip Positioningmentioning

confidence: 99%

mentioning

confidence: 99%

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

View full text Add to dashboard Cite

show abstract

“…The neural identifier can identify the parameter of the arm and the neural controller can work on the basis of the identified parameters. Moreover, using a linearized model of the flexible arm, robust control of the flexible arm has been actively studied by using the model matching control and H 1 control methods [39], [40] in recent years.…”

Section: Torque Control Of a Flexible Beammentioning

confidence: 99%

Adaptive control and identification using one neural network for a class of plants with uncertainties

Tsuji

Kaneko

1998

IEEE Trans. Syst., Man, Cybern. A

View full text Add to dashboard Cite

This paper proposes a new neural adaptive control method that can perform adaptive control and identification for a class of controlled plants with linear and nonlinear uncertainties. This method uses a single neural network for both control and identification, and a sufficient condition of the local asymptotic stability is derived. Then, in order to illustrate the applicability of the proposed method, it is applied to the torque control of a flexible beam that includes linear and nonlinear structural uncertainties.

show abstract

Dynamic analysis of a single link flexible manipulator using Lagrangian-assumed modes approach

Mishra

Singh

Nakra

2015

2015 International Conference on Industrial Instrumentation and Control (ICIC)

View full text Add to dashboard Cite

Vibration control of flexible robotic arms using robust model matching control

Cited by 4 publications

References 11 publications

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Adaptive control and identification using one neural network for a class of plants with uncertainties

Dynamic analysis of a single link flexible manipulator using Lagrangian-assumed modes approach

Contact Info

Product

Resources

About